The paper presents an exoskeleton system designed for elbow joint motion rehabilitation. The proposed system is supposed to be directly attached to the lateral side of a patient’s arm and assist the elbow flexion-extension motion of the patient for rehabilitation. In the proposed system, the amount of electromyogram (EMG) signals of biceps and triceps of the patient are monitored and used to control the motion of the system. The assist level (the support level) of the system can be decided for each patient based on his/her physical and physiological condition or rehabilitation phase. The effectiveness of the proposed support system was evaluated by experiment.

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