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Design of a 6-DOF upper limb rehabilitation exoskeleton with parallel actuated joints

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 3rd International Conference on Biomedical Engineering and Biotechnology, 25–28 September 2014, Beijing, China

Article type: Research Article

Authors: Chen, Yanyan | Li, Ge | Zhu, Yanhe; | Zhao, Jie | Cai, Hegao

Affiliations: State Key Laboratory of Robotics Institute, Harbin Institute of Technology University, Harbin, Heilongjiang Province 150006, China

Note: [] Corresponding author: Yanhe Zhu, State Key Laboratory of Robotics Institute, Harbin Institute of Technology University, HIT University Science Park Robotics Institute 203, Building C1, Room 203, Science Square,Yikuang Street No. 2, Nangang District, Harbin, Heilongjiang Province 150006, China. Tel.: 13074594165; Fax: +86-045186414538; E-mail: [email protected].

Keywords: Upper limb, parallel actuated joints, exoskeleton, rehabilitation

DOI: 10.3233/BME-141067

Journal: Bio-Medical Materials and Engineering, vol. 24, no. 6, pp. 2527-2535, 2014

Published: 2014
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Abstract

In this paper, a 6-DOF wearable upper limb exoskeleton with parallel actuated joints which perfectly mimics human motions is proposed. The upper limb exoskeleton assists the movement of physically weak people. Compared with the existing upper limb exoskeletons which are mostly designed using a serial structure with large movement space but small stiffness and poor wearable ability, a prototype for motion assistance based on human anatomy structure has been developed in our design. Moreover, the design adopts balls instead of bearings to save space, which simplifies the structure and reduces the cost of the mechanism. The proposed design also employs deceleration processes to ensure that the transmission ratio of each joint is coincident.

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