Page 264 - Control Theory in Biomedical Engineering

240 Control theory in biomedical engineering

Fig. 4 Recently proposed upper limb exoskeletons. (A) BLUE SABINO (Perry et al., 2019);
(B) u-Rob (Islam et al., 2019, 2020).

individuals in their activities of daily living. Design considerations for
SUEFUL-7 include moving center of rotation (CR) of shoulder joint
and axes deviation of wrist. In this robotic exoskeleton, the shoulder vertical
and horizontal flexion/extension, elbow flexion/extension movements are
driven by pulleys and cable drive while the actuators are placed on the sta-
tionary frames. Whereas, for delivering shoulder internal/external rotation,
forearm supination/pronation, wrist flexion/extension, and wrist radial/