Design of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistance
X Cui, W Chen, X Jin… - IEEE/ASME Transactions …, 2016 - ieeexplore.ieee.org
The training for both translation and rotation of the hand is desirable for patients with
impairments. This paper focuses on the design and control of a 7-degree-of-freedom cable-
driven arm exoskeleton (CAREX-7), used for dexterous motion (including translation and
rotation) training or assistance of the whole-arm. The CAREX-7 includes an additional wrist
module compared with CAREX, and eight cables are routed through the exoskeleton cuffs to
drive the whole-arm motion. Based on the “assist-as-needed” paradigm, a novel wrench …
impairments. This paper focuses on the design and control of a 7-degree-of-freedom cable-
driven arm exoskeleton (CAREX-7), used for dexterous motion (including translation and
rotation) training or assistance of the whole-arm. The CAREX-7 includes an additional wrist
module compared with CAREX, and eight cables are routed through the exoskeleton cuffs to
drive the whole-arm motion. Based on the “assist-as-needed” paradigm, a novel wrench …
