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• W2533599559 abstract "The training for both translation and rotation of the hand is desirable for patients with impairments. This paper focuses on the design and control of a 7-degree-of-freedom cable-driven arm exoskeleton (CAREX-7), used for dexterous motion (including translation and rotation) training or assistance of the whole-arm. The CAREX-7 includes an additional wrist module compared with CAREX, and eight cables are routed through the exoskeleton cuffs to drive the whole-arm motion. Based on the “assist-as-needed” paradigm, a novel wrench-field controller was designed to regulate a needed wrench (force and torque) on the hand for assisting its dexterous manipulation. Healthy subjects participated in path-tracking experiments while wearing CAREX-7. The experimental results show that the CAREX-7 with the new wrench-field controller can help the subjects to follow the path more closely, and this demonstrates the effectiveness of the device. The current design of CAREX-7 is unique and offers significant improvements and new functionality over the existing CAREX. The novel features are the following: 1) CAREX-7 is an exoskeleton for the full human arm, including shoulder, elbow, and the wrist, with new design issues; and 2) controller of CAREX-7 builds on a screw-theoretic approach and assists both translation and rotation of the hand, allowing for dexterous hand reorientation, which is required in everyday tasks." @default.
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• W2533599559 date "2017-02-01" @default.
• W2533599559 modified "2023-10-14" @default.
• W2533599559 title "Design of a 7-DOF Cable-Driven Arm Exoskeleton (CAREX-7) and a Controller for Dexterous Motion Training or Assistance" @default.
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• W2533599559 doi "https://doi.org/10.1109/tmech.2016.2618888" @default.
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