An upper-body rehabilitation exoskeleton Harmony with an anatomical shoulder mechanism: Design, modeling, control, and performance evaluation
B Kim, AD Deshpande - The International Journal of …, 2017 - journals.sagepub.com
We present an upper-body exoskeleton for rehabilitation, called Harmony, that provides
natural coordinated motions on the shoulder with a wide range of motion, and force and
impedance controllability. The exoskeleton consists of an anatomical shoulder mechanism
with five active degrees of freedom, and one degree of freedom elbow and wrist
mechanisms powered by series elastic actuators. The dynamic model of the exoskeleton is
formulated using a recursive Newton–Euler algorithm with spatial dynamics representation …
natural coordinated motions on the shoulder with a wide range of motion, and force and
impedance controllability. The exoskeleton consists of an anatomical shoulder mechanism
with five active degrees of freedom, and one degree of freedom elbow and wrist
mechanisms powered by series elastic actuators. The dynamic model of the exoskeleton is
formulated using a recursive Newton–Euler algorithm with spatial dynamics representation …
