A 7 DOF exoskeleton arm: Shoulder, elbow, wrist and hand mechanism for assistance to upper limb disabled individuals

This paper illustrates the mechanical structure's spherical motion, kinematic matrices and achievable workspace of an exoskeleton upper limb device. The purpose of this paper is to assist individuals that have lost their upper limb motor functions by creating an exoskeleton device that does not require an external support; but still provides a large workspace. This allows for movement according to the Activities of Daily Living (ADL).