Development of 2-DOF powered exoskeleton for upper limb rehabilitation

In this paper, we introduce the 2-DOF robotic exoskeleton system for upper limb rehabilitation after stroke. We focused on the 2-DOF powered exoskeleton which consists of a cable-driven mechanism actuated by two motors. Strain gages measured torques which loaded elbow flexion/extension and wrist pronation/supination axes. sEMG(Electromyography) was used to detect the intentional movements of subjects to begin each training trials.