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Applied Bionics and Biomechanics
Volume 6, Issue 2, Pages 175-191
http://dx.doi.org/10.1080/11762320902920575

Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm

Joel C. Perry,1 Janet M. Powell,2 and Jacob Rosen3

1Department of Mechanical Engineering, University of Washington, Seattle Washington, USA
2Department of Rehabilitation Medicine, University of Washington, Seattle Washington, USA
3Department of Computer Engineering, University of California at Santa Cruz, Santa Cruz, California, USA

Received 11 March 2009

Copyright © 2009 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Citations to this Article [17 citations]

The following is the list of published articles that have cited the current article.

  • Wen Yu, and Jacob Rosen, “A novel linear PID controller for an upper limb exoskeleton,” Proceedings of the IEEE Conference on Decision and Control, pp. 3548–3553, 2010. View at Publisher · View at Google Scholar
  • Jakob Oblak, Jan F. Veneman, Zlatko Matjačić, Joel C. Perry, Je H. Jung, Imre Cikajlo, Nataša Bizovičar, Nika Goljar, and Thierry Keller, “Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training,” Journal of Rehabilitation Research and Development, vol. 48, no. 4, pp. 317–334, 2011. View at Publisher · View at Google Scholar
  • Hyunchul Kim, Levi Makaio Miller, Aimen Al-Refai, Moshe Brand, and Jacob Rosen, “Redundancy resolution of a human arm for controlling a seven DOF wearable robotic system,” Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, pp. 3471–3474, 2011. View at Publisher · View at Google Scholar
  • Dmitry Oleynikov, Anton Simorov, Stephen Otte, and Courtni M. Kopietz, “Review of surgical robotics user interface: What is the best way to control robotic surgery?,” Surgical Endoscopy and Other Interventional Techniques, vol. 26, no. 8, pp. 2117–2125, 2012. View at Publisher · View at Google Scholar
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  • Hyunchul Kim, Nancy Byl, Matt Simkins, Irina Fedulow, Gary Abrams, and Jacob Rosen, “Robotic Rehabilitation Game Design for Chronic Stroke,” Games for Health Journal, vol. 1, no. 6, pp. 422–430, 2012. View at Publisher · View at Google Scholar
  • Gary M. Abrams, Hyunchul Kim, Levi Makaio Miller, Jacob Rosen, and Nancy Byl, “Redundancy resolution of the human arm and an upper limb exoskeleton,” IEEE Transactions on Biomedical Engineering, vol. 59, no. 6, pp. 1770–1779, 2012. View at Publisher · View at Google Scholar
  • Erica Pitsch, Gary M. Abrams, Hyunchul Kim, Nancy N. Byl, Irina Fedulow, Matt Simkins, Srikantan Nagarajan, and Jacob Rosen, “Chronic stroke survivors achieve comparable outcomes following virtual task specific repetitive training guided by a wearable robotic orthosis (UL-EXO7) and actual task specific repetitive training guided by a physical therapist,” Journal of Hand Therapy, vol. 26, no. 4, pp. 343–352, 2013. View at Publisher · View at Google Scholar
  • Irina Fedulow, Matt Simkins, Jacob Rosen, Hyunchul Kim, Levi Makaio Miller, Gary M. Abrams, and Nancy Byl, “Kinematic data analysis for post-stroke patients following bilateral versus unilateral rehabilitation with an upper limb wearable robotic system,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 21, no. 2, pp. 153–164, 2013. View at Publisher · View at Google Scholar
  • Jacob Rosen, and Byoung Gook Loh, “Kinematic analysis of 7 degrees of freedom upper-limb exoskeleton robot with tilted shoulder abduction,” International Journal of Precision Engineering and Manufacturing, vol. 14, no. 1, pp. 69–76, 2013. View at Publisher · View at Google Scholar
  • Jacob Rosen, Matt Simkins, Jay Ryan Roldan, Hyunchul Kim, Nancy Byl, and Gary Abrams, “Kinematic analysis of virtual reality task intensity induced by a rehabilitation robotic system in stroke patients,” ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, vol. 2, 2013. View at Publisher · View at Google Scholar
  • Beomsoo Hwang, and Doyoung Jeon, “A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors,” Sensors, vol. 15, no. 4, pp. 8337–8357, 2015. View at Publisher · View at Google Scholar
  • Nader Naghavi, and Mohammad J. Mahjoob, “Design and control of an active 1-DoF mechanism for knee rehabilitation,” Disability and Rehabilitation: Assistive Technology, pp. 1–7, 2015. View at Publisher · View at Google Scholar
  • Biyun Xie, and Jing Zhao, “Handing over Objects to Human in a Friendly and Comfortable Manner,” International Journal of Humanoid Robotics, vol. 12, no. 4, 2015. View at Publisher · View at Google Scholar
  • James Hope, and Andrew McDaid, “Development of Wearable Wrist and Forearm Exoskeleton with Shape Memory Alloy Actuators,” Journal of Intelligent & Robotic Systems, 2017. View at Publisher · View at Google Scholar
  • Hyundo Choi, Keehong Seo, Seungyong Hyung, Youngbo Shim, and Soo-Chul Lim, “Compact Hip-Force Sensor for a Gait-Assistance Exoskeleton System,” Sensors, vol. 18, no. 2, pp. 566, 2018. View at Publisher · View at Google Scholar
  • Jianfeng Li, Shicai Li, Leiyu Zhang, Chunjing Tao, and Run Ji, “Position solution and kinematic interference analysis of a novel parallel hip-assistive mechanism,” Mechanism and Machine Theory, vol. 120, pp. 265–287, 2018. View at Publisher · View at Google Scholar