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The training for both translation and rotation of the hand is desirable for patients with impairments. This paper focuses on the design and control of a 7-degree-of-freedom cable-driven arm exoskeleton (CAREX-7), used for dexterous motion (including translation and rotation) training or assistance of the whole-arm. The CAREX-7 includes an additional wrist module compared with CAREX, and eight cables...
Robotic rehabilitation devices are attractive to physical therapists. Various leg exoskeletons have been developed during the past decade and have been used in gait training. Traditional exoskeletons usually have a complex structure and add extra inertia to the wearer's leg, which may change their natural gait. In this paper, we present the design of a cable-driven active leg exoskeleton (C-ALEX)...
A low-cost and easy-to-customize Cable-driven Wrist Robotic Rehabilitor (CDWRR) has been developed for forearm and wrist motion training. This device can be potentially applied to rehabilitation of stroke patients for three degree-of-freedom (3-DOF) arm motion, including forearm supination/pronation, wrist flexion/extension and ulnar/radial deviation. The CDWRR can be customized for patients with...
A human upper-limb endoskeleton has 7 degrees of freedom to achieve various tasks dexterously. Therefore, the biological structures of human arm are attractive to researchers, and in this paper, a 7-DOF (degree of freedom) humanoid arm with cable-driven is presented. For CDHA inheriting the human arm's natural features, it is expected to possess the remarkable advantages of a human arm. Then a critical...
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