Design of an arm exoskeleton with scapula motion for shoulder rehabilitation

  title={Design of an arm exoskeleton with scapula motion for shoulder rehabilitation},
  author={Craig. Carignan and Magdalena Liszka and Stephen Roderick},
  journal={ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.},
The evolution of an arm exoskeleton design for treating shoulder pathology is examined. Tradeoffs between various kinematics configurations are explored, and a device with five active degrees of freedom is proposed. Two rapid-prototype designs were built and fitted to several subjects to verify the kinematic design and determine passive link adjustments. Control modes are developed for exercise therapy and functional rehabilitation, and a distributed software architecture that incorporates… CONTINUE READING
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