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Communication Dans Un Congrès Année : 2009

Design and Modeling of an Upper Extremity Exoskeleton

Salam Moubarak
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Minh Tu Pham
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Tanneguy Redarce

Résumé

This paper presents the design and modeling results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller in order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users.
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Dates et versions

hal-00443902 , version 1 (05-01-2010)

Identifiants

  • HAL Id : hal-00443902 , version 1

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Salam Moubarak, Minh Tu Pham, Thomas Pajdla, Tanneguy Redarce. Design and Modeling of an Upper Extremity Exoskeleton. 11th International Congress of the IUPESM : medical physics and biomedical engineering world congress 2009, Sep 2009, Munich, Germany. pp.476-479. ⟨hal-00443902⟩
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