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

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...

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Bibliographic Details
Main Authors: Gopura, R.A.R.C., Kiguchi, K.
Format: Conference Proceeding
Language:English
Subjects:
Anatomy
Exoskeletons
Humans
Joints
Medical robotics
Medical services
Rehabilitation robotics
Service robots
Shoulder
Thorax
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Summary: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.
ISSN:1945-7898
1945-7901
DOI:10.1109/ICORR.2009.5209630