A powered orthosis can be used to help people with disabilities to improve their motion capability. The primary goal is to grow the degree of independence of the user in a certain number of daily living tasks. In this paper the design and the manufacture of a 4 d.o.f. (degrees of freedom) powered upper-limb orthosis is presented. The orthosis is an exoskeleton worn on one arm by the user. The design process of the orthosis is described: mechanical design and manufacturing are described, the estimation of the range of movement related to daily-living activities is presented. Considerations on the control system, not yet implemented, to manage the motion of the orthosis are also included. Some preliminary tests to verify the functionality of the design show encouraging results.
A 4 d.o.f. Upper-limb Orthosis driven by Pneumatic Muscles
DURANTE, FRANCESCO;BEOMONTE ZOBEL, Pierluigi
2004-01-01
Abstract
A powered orthosis can be used to help people with disabilities to improve their motion capability. The primary goal is to grow the degree of independence of the user in a certain number of daily living tasks. In this paper the design and the manufacture of a 4 d.o.f. (degrees of freedom) powered upper-limb orthosis is presented. The orthosis is an exoskeleton worn on one arm by the user. The design process of the orthosis is described: mechanical design and manufacturing are described, the estimation of the range of movement related to daily-living activities is presented. Considerations on the control system, not yet implemented, to manage the motion of the orthosis are also included. Some preliminary tests to verify the functionality of the design show encouraging results.Pubblicazioni consigliate
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