Kinematic Analysis of Exoskeleton Suit for Human Arm

Abstract

Problem statement: There are many robotic arms developed for providing care to physically disabled people. It is difficult to find robot designs in literature that articulate such a procedure. Therefore, it is our hope that the design work shown in this study may serve as a good example of a systematic method for rehabilitation robot design. Approach: The arm exoskeleton suit was developed to increase human's strength, endurance, or speed enabling them to perform tasks that they previously could not perform. It should not impede the user's natural motion and should be comfortable and safe to wear and easy to use. Although movement is difficult for them, they usually want to go somewhere by themselves. Results: The kinematic exoskeleton suit for human arms is simulated by MATLAB software. The exoskeleton suit of human arm consists of one link length, three link twists, two link offsets and three joint angles. Conclusion: This study introduced the kinematic of exoskeleton suit for human arm. The exoskeleton suit can be used to be instrument for anyone who needs to improve human's performance. It will increase the strength of human that can lift heavy load or help handicapped patients, who cannot use their arm.