Design and Simulation of Upper Limb Exoskeleton for Rehabilitation

Abstract

In the growing field of wearable robotics, Upper Limb Exoskeleton (ULE) can be used as rehabilitation as well as a supportive device for the daily working of human. In the problem undertaken, it is planned to analysis and design ULE for rehabilitation according to the physiological structure of the human upper limb and daily work pattern. To design ULE, the input requirements of static and dynamic joint torque is calculated and is used for the selection of joint actuators based on calculated parameters. According to the conceptual model, the analytical model for studying the dynamics of ULE will be developed and is to compare with simulated results using MATLAB as a simulation environment. The conceptual design will be altered based on the dynamic behavior of the model obtained via simulation results.