Design and Patient-Oriented Control of A Rehabilitation Assistance Upper Exoskeleton

Inspired by the difficulties behind specification requirements as well realizing applicable capacity of upper exoskeleton robots, this paper presents design and development an original prototype Rehabilitation Assistance UPper EXoskeleton (RAUPEX). The is designed through analysis human's limb biomechanics dynamics. Based on human joint power, solutions mechanism actuator for are drawn. During exoskeleton, a basic control hardware built to ensure real-time performance besides custom-built panel users. A patient-oriented strategy allows RAUPEX assist patients with various disability level in rehabilitation. robot's efficiency has been evaluated rehabilitation training tests healthy persons quasi-patients via fundamental criteria development. Normalized square sum angular operator-exoskeleton errors that $(25.3\pm2.45)\times10^{-3}$ active $(5.89\pm0.42)\times10^{-3}$ passive control. Moreover, resulting interaction force which maximum $7.75$ N at arm $4.32$ lower enables accurately exercises without discomfort. Over $87\%$ experimental participants claimed feel comfortable proves developed potential increase adaptation users during procedure. DOI: 10.61416/ceai.v25i3.8341