Analysis of elbow-joints misalignment in upper-limb exoskeleton


This paper presents advantages of introducing elbow-joints misalignments in an exoskeleton for upper limb rehabilitation. Typical exoskeletons are characterized by axes of the device as much as possible aligned to the rotational axes of human articulations. This approach leads to advantages in terms of movements and torques decoupling, but can lead to… (More)
DOI: 10.1109/ICORR.2011.5975393


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