Journal of Robotics / 2013 / Article / Tab 1

Research Article

A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation

Table 1

Comparative study between joints of human arm and Exorn.

Actuator numberMovementHuman joint range (Deg)Exorn range (deg)

Shoulder griddle movements
Actuator 1Elevation4030
Actuator 2Scapular abduction2020
Scapular adduction1515

Shoulder joint movements
Actuator 3Horizontal abduction13590
Horizontal adduction4545
Actuator 4Vertical abduction180160
Vertical adduction200
Actuator 5Forward flexion18090
Forward extension6060
Actuator 6External rotation9090
Internal rotation2020

Elbow joint movements
Actuator 7Elbow flexion140120
Elbow extension00
Actuator 8Forearm pronation9090
Forearm supination8080

Wrist joint movements
Actuator 9Palm radial deviation1510
palm ulnar deviation4530
Actuator 10Palm flexion8080
Palm extension8080

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