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A passively safe cable driven upper limb rehabilitation exoskeleton

Issue title: Papers from the 3rd International Conference on Biomedical Engineering and Technology (iCBEB 2014), 25–28 September 2014, Beijing, China

Subtitle:

Guest editors: Edward J. Ciaccio

Article type: Research Article

Authors: Chen, Yanyan | Fan, Jizhuang | Zhu, Yanhe* | Zhao, Jie | Cai, Hegao

Affiliations: Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, Heilongjiang, China

Correspondence: [*] Corresponding author: Yanhe Zhu, State Key Laboratory of Robotic and System, Harbin Institute of Technology (HIT) Room 203, Building C1, HIT Science Park, 2 Yikuang Street, Nangang District, 150006 Harbin, Heilongjiang, China. Tel.: +86 13074594165; Fax: +86 0451 8641 4538; E-mail:yhzhu@hit.edu.cn

Keywords: Upper limb exoskeleton, rehabilitation, gravity balanced mechanism, cable driven

DOI: 10.3233/THC-150954

Journal: Technology and Health Care, vol. 23, no. s2, pp. S197-S202, 2015

Published: 2015
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Abstract

BACKGROUND: When using upper limb exoskeletons that assist the movement of physically weak people, safety should be the most important index.

OBJECTIVE: In this paper, a passively safe, cable-driven upper limb exoskeleton with parallel actuated joints, which perfectly mimics human motions, is proposed.

METHODS: Compared with the existing upper limb exoskeletons which are mostly designed only considering the realization of functional properties, and having poor wearabity, a passively safe prototype for motion assistance based on human anatomy structure has been developed in our design. This design is based on the prior exoskeleton structure with the adoption of a gravity balanced device.

RESULTS AND CONCLUSION: The gravity balanced mechanism was confirmed in theory and simulation, showing it has a positive effect on balance.

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