Control investigation of a customizable/adjustable exoskeleton upper‐limb

Abstract

Purpose

The purpose of this paper is to investigate the mechanical, kinematic and biological aspects that would be required for a customized upper limb exoskeleton prototype operation.

Design/methodology/approach

The research contained a literature survey, design, simulation, development and testing of an exoskeleton arm.

Findings

An adjustable/customizable exoskeleton arm was developed with a kinematic model to allow the desired motion. Tests were performed to determine the feasibility of the system.

Originality/value

The paper shows how the authors researched, designed and developed an exoskeleton arm that had similar mechanical properties to those of a biological arm. The exoskeleton must allow customization and be adaptable to the operator, without the need for major alterations.

Citation

Stopforth, R. (2013), "Control investigation of a customizable/adjustable exoskeleton upper‐limb", Industrial Robot, Vol. 40 No. 2, pp. 132-142. https://doi.org/10.1108/01439911311297739