Design of exoskeleton arm for enhancing human limb movement

Human motion is an important function which is related to the movement in upper or lower limb. Patients who have injured or damaged of brain will be lost the movement controlling function. The proposed exoskeleton arm has five degrees-of-freedom. Three degrees-of-freedom are at the shoulder joint, i.e. flexion/extension, abduction/adduction and internal/external rotation. The elbow joint has two degrees-of-freedom that are flexion/extension and supination/pronation. Controlling the exoskeleton arm can be performed by the electromyography signals and a set of controller which composes of the electromyography amplifier, analog to digital convertor, motor control and motor driver. Complier dsPIC was applied into the analog to digital convertor and motor controller. The result was shown the electromyography signal of biceps and triceps brachii muscles were used to control the exoskeleton arm.