Design and Modelling 4 DOFs Upper Limb Exoskeleton

Based on upper limb’s biomechanisms, in this paper, a robotic rehabilitation system is presented. It is designed as a 4 DOFs wearable exoskeleton applicable for repetitive practice of passive or active movements of the arm in shoulder joint and forearm in elbow joint. The kinematic analysis of the proposed system is followed by the 3D model and a description of the developed prototype.