A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation

Table 1

Comparative study between joints of human arm and Exorn.

Actuator number	Movement	Human joint range (Deg)	Exorn range (deg)
Shoulder griddle movements
Actuator 1	Elevation	40	30
	Depression	10	10
Actuator 2	Scapular abduction	20	20
	Scapular adduction	15	15
Shoulder joint movements
Actuator 3	Horizontal abduction	135	90
	Horizontal adduction	45	45
Actuator 4	Vertical abduction	180	160
	Vertical adduction	20	0
Actuator 5	Forward flexion	180	90
	Forward extension	60	60
Actuator 6	External rotation	90	90
	Internal rotation	20	20
Elbow joint movements
Actuator 7	Elbow flexion	140	120
	Elbow extension	0	0
Actuator 8	Forearm pronation	90	90
	Forearm supination	80	80
Wrist joint movements
Actuator 9	Palm radial deviation	15	10
	palm ulnar deviation	45	30
Actuator 10	Palm flexion	80	80
	Palm extension	80	80