Problems and Design for a Cable-Driven Device for Elbow-Wrist Assistance

This paper presents the design of a portable, lightweight, cable-driven exoskeleton for upper limb rehabilitation and exercise. Based on a parallel mechanism driven by cables, the device is designed to assist with simultaneous motion of elbow and wrist during exercise and rehabilitation. It adapts to each patient's specific needs and, thanks to its portability, is intended for autonomous use at home. An analysis of the challenges and requirements in developing such assisting devices is discussed, and lab experiences from previous designs support the effectiveness of the proposed solution for limb motion assistance.