Pilot Study of a Powered Exoskeleton for Upper Limb Rehabilitation Based on the Wheelchair

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/bmri/volume-2019/9627438/figures/9627438.fig.006a.svgz" name="9627438.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) Shoulder joint 1 </b></td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/bmri/volume-2019/9627438/figures/9627438.fig.006b.svgz" name="9627438.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) Shoulder joint 2 </b></td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/bmri/volume-2019/9627438/figures/9627438.fig.006c.svgz" name="9627438.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) Elbow joint </b></td></tr></table>

<div>The mechanical limit of the exoskeleton. (a) The mechanical limit of shoulder joint 1. (b) The mechanical limit of shoulder joint 2. (c) The mechanical limit of elbow joint.</div>

BioMed Research International

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Figure 6

Figure 6: Pilot Study of a Powered Exoskeleton for Upper Limb Rehabilitation Based on the Wheelchair 