A finger exoskeleton has been developed to aid treatment of tendon injuries. The exoskeleton is designed to assist flexion/extension motions of a finger within its full range, in a natural and coordinated manner, while keeping the tendon tension within acceptable limits to avoid gap formation or rupture of the suture. In addition to offering robot assisted operation modes for tendon therapies, the exoskeleton can provide quantitative measures of recovery that can help guide the physical therapy program. Usability studies have been conducted and efficacy of exoskeleton driven exercises to reduce muscle requitement levels has been demonstrated.

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With the development of human machine interaction technology, exoskeleton devices are widely researched in multiple fields in recently. In this paper, we proposed a design of compliant exoskeleton device for elbow joint which can be used in rehabilitation of upper limb. The new device can implement the complaint interaction between human’s upper limb and exoskeleton device through adding one passive rotational joint and one passive translational joint based on one active rotational joint which is usually used in most of research in this field. At last, we also evaluate it according to analyzing the force between human’s upper limb andexoskeleton device comparing to only one active rotation joint device.

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This paper presents a novel exoskeleton hand system for measuring extravehicular activity spacesuit glove (EVA glove) joint’s mechanical characteristics. For adapting to variety sizes of gloves, the proximal phalanx of exoskeleton finger can be adjusted through an additional four-bar transmission mechanism. The exoskeleton hand can apply forces that actuate both flexion and extension of EVA glove. Based on its special mechanical structure, a mathematic model of flexible EVA glove joint has been built.

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In this paper we propose an upper body exoskeleton to augment a soldier’s ability to maneuver and fire a heavy weapon. After describing the initial design concept, we model the system dynamics both using Lagrange’s method and the SimMechanics software package. We derive a controller for our upper body exoskeleton, loosely inspired by the novel approach used on the Berkeley lower body exoskeleton (BLEEX). The approach is to combine the computed torque method, along with a nearly marginally stable linear feedback law. The resulting controller can track the wearer’s movement with without the need to measure muscular activation levels. We simulation results for the controller with a human torque input. The contributions, while modest, are an important first step in evaluating the feasibility of this approach for an upper body exoskeleton.

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Many studies on power-assist exoskeleton robots have been carried out in order to assist daily activities and/or rehabilitation of physically weak persons. EMG-based control is one of the most effective control methods to realize the power-assist with theexoskeleton based on userpsilas motion intention. In this paper, a muscle-model, which is adjusted by a neuro-fuzzy modifier according to the userpsilas upper-limb posture, is introduced to realize an effective EMG-based controller of the power-assistexoskeleton. Force/torque generated between the userpsilas wrist part and the tip of the exoskeleton is used to train the neuro-fuzzy modifier. The effectiveness of the proposed control method was evaluated by performing experiment.

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