Kinematics and design of a 5 DoF exoskeleton for the rehabilitation of the upper limb

This paper aims at presenting the mechanical design, kinematics and workspace analysis of a 5 DoF exoskeleton, which is a new powered exoskeleton for the upper limb rehabilitation that allows the movements of the shoulder rotations at the shoulder joint as well as the elbow movements. The exoskeleton structure is a simple light grounded device designed to face both shoulder and the elbow rhythms. The exoskeleton is provided with an extra joints used to adjust the exoskeleton lengths to make an ideal match between human joint axes and the exoskeleton axe in addition to, a large exploitable range of motion. Due to these feature, that are provided by the exoskeleton, a comfortable rehabilitation therapies and activities of daily living assistance can be delivered.