Mechanical designs of active upper-limb exoskeleton robots state-of-the-art and design difficulties

R. A.R.C. Gopura, Kazuo Kiguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

93 Citations (Scopus)

Abstract

Active upper-limb exoskeleton robots have been developing from 1960s. In recent years, the mechanical designs and control algorithms of active upper-limb exoskeleton robots were developed significantly. This paper reviews the state-of-the-art of active upper-limb exoskeleton robots that are applied in the areas of rehabilitation and assistive robotics. In addition, the main requirements of the active upper-limb exoskeleton robot are identified and the mechanical designs of existing active upper-limb exoskeleton robot are classified. The design difficulties of an active upper-limb exoskeleton robot are discussed.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages178-187
Number of pages10
DOIs
Publication statusPublished - Nov 17 2009
Externally publishedYes
Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan
Duration: Jun 23 2009Jun 26 2009

Publication series

Name2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Other

Other2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
CountryJapan
CityKyoto
Period6/23/096/26/09

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All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Gopura, R. A. R. C., & Kiguchi, K. (2009). Mechanical designs of active upper-limb exoskeleton robots state-of-the-art and design difficulties. In 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 (pp. 178-187). [5209630] (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009). https://doi.org/10.1109/ICORR.2009.5209630