The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement)\nand the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the\nelbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal\nof this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for\nflexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions,\nwhich align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a\ncomfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid\nparts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low\nnoise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical\nrehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these\ndiseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to\nevaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.
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