Herein, this study proposes that the exoskeleton has not full of active DOF (degree of freedom) joint, but partial active DOF joint which is so called the quasi-active joint system. It consists of 4 quasi-active joints and 2 active joints 3 passive joint and 1 active joint. So as to verify the efficiency of the quasi-active exoskeleton, muscle activation results are compared by before and after the wearing exoskeleton results.

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Robotic lower limb exoskeletons have been built for augmenting human performance, assisting with disabilities, studying human physiology, and re-training motor deficiencies. At the University of Michigan Human Neuromechanics Laboratory, we have built pneumatically-powered lower limb exoskeletons for the last two purposes. Most of our prior research has focused on ankle joint exoskeletons because of the large contribution from plantar flexors to the mechanical work performed during gait. One way we control the exoskeletons is with proportional myoelectric control, effectively increasing the strength of the wearer with a physiological mode of control. Healthy human subjects quickly adapt to walking with the robotic ankle exoskeletons, reducing their overall energy expenditure. Individuals with incomplete spinal cord injury have demonstrated rapid modification of muscle recruitment patterns with practice walking with the ankle exoskeletons. Evidence suggests that proportional myoelectric control may have distinct advantages over other types of control for robotic exoskeletons in basic science and rehabilitation.

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This work describes the neuro-robotics paradigm: the fusion of neuroscience and robotics. The fusion of neuroscience and robotics, called neuro-robotics, is fundamental to develop robotic systems to be used in functional support, personal assistance and neuro-rehabilitation. While usually the robotic device is considered as a ldquotoolrdquo for neuroscientific studies, a breakthrough is obtained if the two scientific competences and methodologies converge to develop innovative platforms to go beyond robotics by including novel models to design better robots. This paper describes three robotic platforms developed at the ARTS lab of Scuola Superiore Sant’Anna, implementing neuro-robotic design paradigm.

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This paper presents a new exoskeleton with 4 degrees of freedom (DOF) for index finger rehabilitation. The device can generate bi-directional movement for all joints of the finger through cable transmission, which is required for passive and active trainings. With two prismatic kinematic joints in the design, it can accommodate to some extent variety of hand sizes. The kinematic relation between the device joint angles and the corresponding finger joint angles is simple which greatly simplifies the high level motion control. As the motor capability of patients may be different and the range of motion of the finger may change along with the rehabilitation progress, it is important to take the changes into consideration. And the preliminary experiment has shown that the proposed device is capable of accommodating to these varieties.

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