Page 273 - Control Theory in Biomedical Engineering

mechanism mismatch robust wearer; stretch kinematic transmission

parallel kinematic its and could Cable stiff Gear mechanism CR DOFs three mechanism CR

Cable-driven no to little exoskeleton Weakness: Lightweight; Weakness: backlash Ergonomic Only Ergonomic

Strength: allows between control slip and Strength: structure have could Strength: Weakness: Strength: test.

in the
F/E, wrist with input: output: F/E, wrist with reduction F/E, Control: velocity; F/E, wrist motors Control: velocity; participated

(Ab/Ad, (P/S), forearm motors DC cable-driven CTC; force; (Ab/Ad, (P/S), forearm motors DC train (Ab/Ad, motors reduction position, No test: (Ab/Ad, (P/S), forearm Brushless reduction position, No test: that

Shoulder (F/E), Actuation: and gears, (Method: wrist and No test: Shoulder (F/E), Actuation: gear epicyclic Shoulder Brushless gear input: Clinical Shoulder (F/E), Actuation: gear input: Clinical patients of number DOFs, degrees of freedom; ROM, range of motion; EMG, electromyography signals; Ab, abd

Motion: elbow F/E) bevel Control: velocity, Clinical Motion: elbow F/E) No test: Motion: Actuation: wave CTC; torque) Motion: elbow F/E) wave FSMC torque) shows

7 IR/ER), gear, position, torque) 7 IR/ER), cable-driven Clinical 3 IR/ER) strain (Method: output: 7 IR/ER), strain (Method: output: test
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