Research Article
A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation
Table 1
Comparative study between joints of human arm and Exorn.
| Actuator number | Movement | Human joint range (Deg) | Exorn range (deg) |
| Shoulder griddle movements | Actuator 1 | Elevation | 40 | 30 | Depression | 10 | 10 | Actuator 2 | Scapular abduction | 20 | 20 | Scapular adduction | 15 | 15 |
| Shoulder joint movements | Actuator 3 | Horizontal abduction | 135 | 90 | Horizontal adduction | 45 | 45 | Actuator 4 | Vertical abduction | 180 | 160 | Vertical adduction | 20 | 0 | Actuator 5 | Forward flexion | 180 | 90 | Forward extension | 60 | 60 | Actuator 6 | External rotation | 90 | 90 | Internal rotation | 20 | 20 |
| Elbow joint movements | Actuator 7 | Elbow flexion | 140 | 120 | Elbow extension | 0 | 0 | Actuator 8 | Forearm pronation | 90 | 90 | Forearm supination | 80 | 80 |
| Wrist joint movements | Actuator 9 | Palm radial deviation | 15 | 10 | palm ulnar deviation | 45 | 30 | Actuator 10 | Palm flexion | 80 | 80 | Palm extension | 80 | 80 |
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