A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.

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Impaired upper limb function is one of the most common sequelae in central nervous system. In spinal cord injury (SCI) patients, upper limbs are affected in more than 50% of cases (Wyndaele and Wyndaele 2006). Upper limb strength is impaired to some extent in people who have suf-fered cervical SCI making it difficult for them to perform many activities of daily living (ADL) essential for their autonomy such as wheelchair manual propulsion, eating, drinking, and personal hygiene (Parker et al. 1986; Nakayama et al. 1994). In contrast with lower limbs, upper limbs have extensive functionally due to the mobility of numerous joints that can execute fine movements thanks to complex neuromuscular con-trol. Lower limbs movements have been broadly analyzed in biomechanical studies specially regarding gait analysis. Gait analysis has evolved over the last decades as an important technique to assist in the clinical assessment of patients with mobility dysfunction. These techniques are useful for evaluation, treatment, and surgical planning; in addition, sequential assessments help to provide a functional outcome evaluation. Motion analysis offers an objective method for quantifying movement and is considered a gold standard for evaluating lower limb function during gait in different types of patients.

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Over the past few decades, an enormous amount of research effort has been put into developing exoskeletons and robotic assistive devices. Primary aims generally being rehabilitation use, these devices have variety of other application areas including rescue, military and recreational activities. Although the supplementary technologies such as measurement and control have advanced vastly in recent times, there are still many challenges related to the exoskeleton and robotic assistive device development for the progress in their improved and widespread usage. The natural and versatile human body structure and its multifaceted movement convey a huge potential together with the challenges for the improvement of exoskeletons and robotic devices for mobility assistance and therapy and, demand for the usage of such devices progressively growing. The associated challenges and the solutions to the problems can be virtually inestimable considering also the variety of circumstances of patients in need. In this paper, we summarize and review a number of researches performed in the field to provide a broad perspective for the current and potential future work relevant to the area of robotic assistive devices for mobility and their therapeutic usage.

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In this paper we present a new compact and portable rehabilitation system. It’s role is to provide therapeutic passive motions of the hand. The anatomical characteristics and the biomechanics of the wrist are emphasized. The target anatomical movements of the hand are flexion-extension and abduction-adduction. A comparative study of similar devices is presented. The principle of operation of chosen variant is given. Its design methodology is detailed. A functional prototype was developed and its functional parameters are presented.

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As stroke is one of the most morbidity disease, some rehabilitation devices has been developed to solve the problem, but there isn’t maturation in hand. This paper presents a new hand exoskeleton rehabilitation device to improve the result of rehabilitation and help doctors to perfect theory about hand rehabilitation. We set 8 DOF in this three fingers device, with 2 active DOF and 1 coupled DOF in index or middle finger, 1 active DOF and 1 passive DOF in thumb. The 5 active DOF is driven by motors. The transmission consists of screw nut and multi-link mechanism. We control the device through a typical secondary control system. As this device is designed to help patients not only regain the range of flexion/extension but also complete some typical simple grasping movements. To substantiate the feasibility, an experiment has been carried out. Finally, Suggestions for improvement are given.

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