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The seven principal degrees of freedom of the human arm(adapted from [4]).

The seven principal degrees of freedom of the human arm(adapted from [4]).

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According to the physiological structure of human upper limb, a 5-DOF upper-limbed rehabilitation robot is designed in this paper. Based on the software of Pro/E, the robot model is established. Based on the theory of robot coordinate transformation, the equations of motion of robot are established by the method of D-H. Three dimensional model of t...

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... finger movement is not considered in this paper. As shown in Figure 2, shoulder joint has three degrees of freedom: horizontal and vertical movement, flexion and extension movement, internal and external rotation. Elbow joint has one degree of freedom for flexion and extension. ...

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Soft robotic exoskeletons offer multiple advantages in the field of motor rehabilitation and assistance with activities of daily living This paper reports the design process of a mechanical arm for upper-limb soft exoskeleton testing. The main requirement of the test bench was to simulate five degrees of freedom (DOF) of the human arm, and in particular i) shoulder flexion/extension, ii) shoulder adduction/abduction, iii) shoulder medial rotation/lateral rotation, iv) elbow flexion/extension and v) forearm supination/pronation. An additional requirement included the possibility to alternatively lock each DOF. The final concept was designed using Autodesk Inventor and it is composed of 32 parts, 18 of which were particularly designed for this application. Topological optimisation and Finite Element Method (FEM) analysis were performed to some custom components to obtain the final design. The final concept was manufactured by means of additive manufacturing of PLA (polylactic acid) and laser cutting of PMMA (poly methyl methacrylate) sheets. After testing and validation, the prototype was able to meet the desired requirements and it can be used for soft-exoskeleton testing.
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