Design and Optimization of a Cable Driven Upper Arm Exoskeleton

This paper outlines the design of a wearable upper arm exoskeleton that can be potentially used to assist and train arm movements of stroke survivors or subjects with weak musculature. In the last 10 years, a number of upper arm training devices have emerged. However, due to their size and weight, their use is restricted to clinics and research laboratories. Our proposed wearable exoskeleton builds upon our research experience in wire driven manipulators and design of rehabilitative systems. The exoskeleton consists of three main parts: (i) an inverted U-shaped cuff that rests on the shoulder, (ii) a cuff on the upper arm, and (iii) a cuff on the forearm. Six motors mounted on the shoulder cuff drive the cuffs on the upper arm and forearm with the use of cables. In order to assess the performance of this exoskeleton prior to use on humans, a laboratory test-bed has been developed where this exoskeleton is mounted on a model skeleton, instrumented with sensors to measure joint angles. This paper describes the design details of the exoskeleton and addresses the key issue of parameter optimization to achieve a useful workspace based on kinematic and kinetic models. The optimization results have also been motivated from activities of daily living.