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

R. A.R.C. Gopura; Kazuo Kiguchi

doi:10.1109/ICORR.2009.5209630

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 proceeding › Conference contribution

148 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 language	English
Title of host publication	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages	178-187
Number of pages	10
DOIs	https://doi.org/10.1109/ICORR.2009.5209630
Publication status	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan Duration: Jun 23 2009 → Jun 26 2009

Publication series

Name	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Other

Other	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Country/Territory	Japan
City	Kyoto
Period	6/23/09 → 6/26/09

All Science Journal Classification (ASJC) codes

Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

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10.1109/ICORR.2009.5209630

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). Article 5209630 (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009). https://doi.org/10.1109/ICORR.2009.5209630

Mechanical designs of active upper-limb exoskeleton robots state-of-the-art and design difficulties. / Gopura, R. A.R.C.; Kiguchi, Kazuo.
2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. p. 178-187 5209630 (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Gopura, RARC & 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., 5209630, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, pp. 178-187, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, Japan, 6/23/09. https://doi.org/10.1109/ICORR.2009.5209630

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

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