The design parameters are taken similar to the parameters of the upper-limb of a normal human being.
The designed exoskeleton presents three of the most basic movements of the human arm that facilitate activities of daily living (ADL). The development of upper limb and lower extremity robotic exoskeletons has emerged as a way to improve the quality of life as well as act as a primary rehabilitation device for the individuals suffering from stroke or spinal cord injury. After studying the biomechanics of human upper-limb, a 3 DOF exoskeleton has been designed. This paper also investigates the feasibility of computed torque control for an exoskeleton device. The purpose of this paper is to analyse complete kinematics and dynamics, along with the joint position analysis of a 3 DOF upper-limb robotic exoskeleton.
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