Upper limb motion assist robot using wire driven control system

An upper limb motion assisting robot for wheelchair bound, disabled individuals is proposed. The robot is mounted on the wheelchair frame and through user actuation, provides three dimensional limb movement assistance. The wrist is suspended in a wire trapeze, which is servomotor driven through a vibration reduction mechanism, providing a compact, light weight, and low cost movement assistance system. The design concept, mechanical characteristics, control system, and experimental results are discussed