Design and development of an exoskeletal wrist prototype via pneumatic artificial muscles

摘要: Full or partial loss of function in the shoulder, elbow wrist is an increasingly common ailment caused by various medical conditions like stroke, occupational and sport injuries, as well a number neurological conditions, which increases need for development improvement upper limb rehabilitation devices. In this article, design implementation EXOskeletal WRIST (EXOWRIST) prototype presented. This novel robotic appliance’s motion achieved via pneumatic artificial muscles, form actuation possessing crucial attributes exoskeleton that safe, reliable, portable low-cost. Furthermore, EXOWRIST’s properties are presented detail compared to recent technology, while its two degrees-of-freedom movement capabilities (extension–flexion, ulnar–radial deviation) experimentally evaluated PID-based control algorithm. Experimental results involving initial testing proposed on healthy human volunteer preliminary evaluation also