This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeletonmechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~>;50mm). Theexoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions.

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Active upper-limb exoskeleton robots have been developing from 1960s. In recent years, the mechanical designs and control algorithms of active upper-limb exoskeleton robots were developed significantly. This paper reviews the state-of-the-art of active upper-limb exoskeleton robots that are applied in the areas of rehabilitation and assistive robotics. In addition, the main requirements of the active upper-limb exoskeleton robot are identified and the mechanical designs of existing active upper-limbexoskeleton robot are classified. The design difficulties of an active upper-limb exoskeleton robot are discussed.

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Exoskeleton suit is a kind of human-machine robot, which combines the humans intelligence with the powerful energy of mechanism. It can help people to carry heavy load, walking on kinds of terrains and have a broadly apply area. Though manyexoskeleton suits has been developed, there need many complex sensors between the pilot and the exoskeleton system, which decrease the comfort of the pilot. Sensitivity amplification control (SAC) is a method applied in exoskeleton system without any sensors between the pilot and the exoskeleton. In this paper simulation research was made to verify the feasibility of SAC include a simple 1-dof model and a swing phase model of 3-dof. A PID controller was taken to describe the human-machine interface model. Simulation results show the human only need to exert a scale-down version torque compared with the actuator and decrease the power consumes of the pilot.

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Exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. It transmits torques from actuators through rigid exoskeletal links to the human joints when it is worn. We have been developing exoskeletonrobots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper we propose a three degree of freedom (3DOF) exoskeleton robot for the forearm pronation/supination motion, wrist flexion/ extension motion and ulnar/radial deviation. The paper describes wrist anatomy toward the development of the robot, the hardware design of the exoskeleton (mechanical structure and mechanism, sensors and actuators, power transmission and safety aspects) and potential control methods. Force control using force/torque sensors located at wrist and forearm and electromyographic (EMG) signals based control using skin surface EMG signals of forearm and wrist muscles are the potential control methods for the robot. Experiments have been performed to evaluate the proposed exoskeleton.

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