Kinematic Analysis of a 5-DOF Upper-Limb Exoskeleton With a Tilted and Vertically Translating Shoulder Joint

In this paper, an upper-limb exoskeleton with a tilted and vertically movable shoulder joint is proposed. By analyzing the biomechanics of the shoulder, the upper limb for the shoulder and the elbow was approximated to five degrees of freedom (DOFs) by including the vertical translation of the glenohumeral joint of the shoulder, in addition to the 3 DOFs of… (More)