Development of 2-DOF powered exoskeleton for upper limb rehabilitation

Keunyoung Park,HongSoo Park,Sang Ho Yoon,Byung Ju Dan,Woo Sok Chang

URAI（2013）

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摘要

In this paper, we introduce the 2-DOF robotic exoskeleton system for upper limb rehabilitation after stroke. We focused on the 2-DOF powered exoskeleton which consists of a cable-driven mechanism actuated by two motors. Strain gages measured torques which loaded elbow flexion/extension and wrist pronation/supination axes. sEMG(Electromyography) was used to detect the intentional movements of subjects to begin each training trials.

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关键词

medical robotics,loaded elbow extension,motors,stroke,mobile robots,loaded elbow flexion,2-dof robotic exoskeleton system,upper limb rehabilitation electromyography,semg,strain gages measured torques,upper limb rehabilitation,2-dof powered exoskeleton,cable-driven mechanism,patient rehabilitation,wrist supination axes,electromyography,powered exoskeleton,wrist pronation axes

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