Upper and Lower Exoskeleton Limbs for Assistive and Rehabilitative Applications
نویسندگان
چکیده
Individuals with tetraplegia have loss of motor function in both their upper and lower extremities. Research is being conducted into the development of an exoskeleton to cater for the tetraplegic user. An exoskeleton system has the advantage of assisting disabled or rehabilitating patients without the need of surgery. This paper includes the conceptual design of an upper and lower limb exoskeleton which will be used for rehabilitative and assistive purposes. The mechanical design, kinematical analysis and control architecture will be outlined. Simulated results of the workspace were conducted for the specific design and kinematic models.
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