Design of an Anthromorphic Upper Extremity Exoskeleton

Abstract

Stroke and paralysis are the third-most prevalent causes of death and most common cause of disability on a global scale. Although, no large-scale epidemiological studies have been conducted to determine the number of stroke/paralysis patients in Pakistan, it is estimated that there are hundreds of thousands of new cases reported each year [1]. Despite the need for introduction of advanced rehabilitation, very little research in this particular field has been done in Pakistan. The development of robotic exoskeleton systems can be deemed as one of the most active research areas in contemporary robotics research, due to the vast applicability and necessity for such systems in various industrial and rehabilitative applications. However, majority of the existing exoskeleton systems have been developed with military-level design and applications in mind. Nevertheless, the usage and application of exoskeletons can be considered boundless in nature, ranging from handling of radioactive waste as well as lifting heavy machinery and objects within industrial applications to usage in rehabilitative purposes towards assisting elderly individuals and patients suffering from muscular atrophy that affects different parts of their bodies. The development and control of exoskeleton is of prime importance, specifically due to the close proximity to human beings and the potential for exoskeletons to physically harm other individuals, provided proper care and precautions are not taken in its design, operation and handling. While, at the same time, wearers’ comfort, responsiveness, controllability, flexibility, ergonomics and other practical considerations should also be duly addressed during the development and prototyping stages.