Page 265 - Control Theory in Biomedical Engineering

Exoskeletons in upper limb rehabilitation 241

Fig. 5 Commercially available exoskeleton for upper limb rehabilitation.
(A) Armeopower exoskeleton; (B) ARMIN (Nef et al., 2009a, b), research prototype of
Armeopower. ((A) Courtesy to Hocoma.)

ulnar deviation movements to the robot, the actuators are mounted on the
robot itself and either directly connected or via gear drive. A slider crank
mechanism was used for compensating CR of the shoulder joint. The robot
weighs about 5 kg and is intended to be wheelchair mounted under the
impression that physically weak individuals use wheelchairs. In order to con-
trol SUEFUL-7, an EMG-based neuro-fuzzy control was applied. This exo-
skeleton was tested with healthy subjects only.