This thesis presents a mechanical system design of a haptic cobot exoske-leton for use in physical therapy rehabilitation. The exoskeleton will be the first exoskeleton to offer cobot technology in a wearable haptic device. This exoskeleton provides a significant improvement in existing haptic exoskeleton technology by providing high performance haptic feedback while maximizing the user’s safety. An overall system and subsystem design is presented; which includes a spherical 3RRR mechanism for the shoulder. A detailed design of the shoulder mechanism is presented in five parts: a range of motion study, the kinematic parameters, the kinematics, kinematic optimization and a collision study. The range of motion study is based anatomical data collected using a Flock of Birds motion capture device. The design process for optimization of the shoulder mechanism is presented in which the shoulder mechanism is optimized by examining the Jacobian matrix with the lowest inverse condition number and global condition index. The result is an practical design of a exoskeleton with a high performance shoulder mechanism that is capable of reaching nearly a quarter of workspace developed by the Flock of Birds.

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For a serious scientific interest or rather an amusing desire to be the creator like Pygmalion, human being has kept fascination to create something replicates ourselves as shown in lifelike statues and imaginative descriptions in fairy tales, long time from the ancient days. At the present day, eventually, they are coming out as humanoid robots and their brilliant futures are fore-casted as follows. 1) Humanoid robot will take over boring recurrent jobs and dangerous tasks where some everyday tools and environments designed and optimised for human usage should be exploited without significant modifications. 2) Efforts of developing humanoid robot systems and components will lead some excellent inventions of engineering, product and service. 3) Humanoid robot will be a research tool by itself for simulation, implementation and examination of the human algorithm of motions, behaviours and cognitions with corporeality.

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For a serious scientific interest or rather an amusing desire to be the creator like Pygmalion, human being has kept fascination to create something replicates ourselves as shown in lifelike statues and imaginative descriptions in fairy tales, long time from the ancient days. At the present day, eventually, they are coming out as humanoid robots and their brilliant futures are forecasted as follows. 1) Humanoid robot will take over boring recurrent jobs and dangerous tasks where some everyday tools and environments designed and optimised for human usage should be exploited without significant modifications. 2) Efforts of developing humanoid robot systems and components will lead some excellent inventions of engineering, product and service. 3) Humanoid robot will be a research tool by itself for simulation, implementation and examination of the human algorithm of motions, behaviours and cognitions with corporeality.

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This paper focuses on the design of a 2-DOF exo-skeletal mechanism for the lateral and frontal abduction of the human upper limb. Major consideration was placed on the location of the center of rotation of the humerous with respect to the scapula.An experimen-tal procedure for the determination of the kinematics of the shoulder girdle area using a CMM machine is described. The motion of the center of rotation of the shoulder is obtained using a Geneva mechanism. Kine-matical analysis of the proposed hybrid mechanism is discussed and a validation study is presented. A 3D CAD model of the mechanism is presented and a FEM analysis illustrates the stability and durability of the portable mechanism. It is expected that the mechanism under development will help people suffering from muscle atrophy or to accelerate injured people recovery.

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For motor rehabilitation of hemiplegic patients by means of motorized orthoses, as well as in intelligent prosthetics, a major challenge is the coordination of healthy and robotically assisted limbs. The new method of Complementary Limb Motion Estimation (CLME) analyzes depen-dencies among human Degrees of Freedom (DoFs) in healthy subjects. Based on this knowledge, adequate motion for inoperable DoFs in patients is estimated on-line from sound limb motion. Thus, the intention of a partially paralyzed person or an amputee can be deduced from residual body motion, in order to coordina-tely actuate or supervise the impaired limbs. The aim is to increase the dominance of the patient and to reduce the robot to an assistive device. In continuity of priorly published evaluation by comuter simula-tions, this paper presents a first experimental proof of concept of CLME with healthy subjects. The results of these preliminary tests affirm the suitability of the algorithm for cooperative human-robot interaction.

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