Design of a haptic arm exoskeleton for training and rehabilitation

Abstract—A high-quality haptic interface is typically character-ized by low apparent inertia and damping, high structural stiffness, minimal backlash, and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of space and weight lim-itations, workspace requirements, and the kinematic constraints placed on the device by the human arm. These constraints im-pose conflicting design requirements on the engineer attempting to design an arm exoskeleton. In this paper, the authors present a detailed review of the requirements and constraints that are in-volved in the design of a high-quality haptic arm exoskeleton. In this context, the design of a five-degree-of-freedom haptic arm ex-oskeleton for training and rehabilitation in virtual environments is presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuries. As a training tool, the device pro-vides a means to implement flexible, repeatable, and safe training methodologies. Index Terms—Arm exoskeleton, design methodology, force feed-back, haptic interface, robot aided rehabilitation. I