Design and fabrication of a 3DoF upper limb exoskeleton

In this paper, design and fabrication of a 3Dof upper limb exoskeleton robot have been discussed. The main application of this robot is for rehabilitation purposes. Therefore, the necessary components for studying the interaction between robot and human body has been implemented on the robot. Moreover the ability to adjust link´s length based on patient´s body and controlling structure have been considered for the robot. In order to measure the force between human body and robot, strain gage sensors have been used at each arm connector. Due to high level of controllability of dynamixel servomotors, these motors are being used as robot actuators. At the end, robot and human interaction is discussed based on sensor results.