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Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties

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2 Author(s)
Gopura, R.A.R.C. ; Dept. of Adv. Syst. Control Eng., Saga Univ., Saga, Japan ; Kiguchi, Kazuo

Active upper-limb exoskeleton robots have been developing from 1960s. In recent years, the mechanical designs and control algorithms of active upper-limb exoskeleton robots were developed significantly. This paper reviews the state-of-the-art of active upper-limb exoskeleton robots that are applied in the areas of rehabilitation and assistive robotics. In addition, the main requirements of the active upper-limb exoskeleton robot are identified and the mechanical designs of existing active upper-limb exoskeleton robot are classified. The design difficulties of an active upper-limb exoskeleton robot are discussed.

Published in:

Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on

Date of Conference:

23-26 June 2009