Development of a whole arm wearable roboticexoskeleton for rehabilitation and to assist upperlimb movements

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 Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements

 M. H. Rahman
†
,
‡
∗
, M. J. Rahman
†
, O. L. Cristobal
†
,M. Saad
†
, J. P. Kenn´e
†
 and P. S. Archambault
‡
,
§
†
 Department of Electrical Engineering, ´  Ecole de Technologie Sup´ erieure (ETS), Montr ´ eal, Canada
‡
School of Physical & Occupational Therapy, McGill University, Montr ´ eal, Canada
§
 Interdisciplinary Research Center in Rehabilitation (CRIR), Montr ´ eal, Canada
(Accepted December 22, 2013)
SUMMARY
To assist physically disabled people with impaired upper limb function, we have developed a new7-DOF exoskeleton-type robot named
 Motion Assistive Robotic-Exoskeleton for Superior Extremity
(
 ETS-MARSE
) to ease daily upper limb movements and to provide effective rehabilitation therapyto the superior extremity. The ETS-MARSE comprises a shoulder motion support part, an elbowand forearm motion support part, and a wrist motion support part. It is designed to be worn on thelateral side of the upper limb in order to provide naturalistic movements of the shoulder (verticaland horizontal flexion/extension and internal/external rotation), elbow (flexion/extension), forearm(pronation/supination), and wrist joint (radial/ulnar deviation and flexion/extension). This paperfocuses on the modeling, design, development, and control of the ETS-MARSE. Experiments werecarried out with healthy male human subjects in whom trajectory tracking in the form of passiverehabilitation exercises (i.e., pre-programmed trajectories recommended by a therapist/clinician)were carried out. Experimental results show that the ETS-MARSE can efficiently perform passiverehabilitation therapy.