TAMU CLEVERarm: A novel exoskeleton for rehabilitation of upper limb impairments

Abstract

TAMU CLEVERarm (Compact, Low-weight, Ergonomic, Virtual/Augmented Reality Enhanced Rehabilitation arm) is a novel exoskeleton with eight degrees of freedom supporting the motion of shoulder girdle, glenohumeral joint, elbow and wrist. Of the exoskeleton's eight degrees of freedom (DOF), six are active and the two degrees of freedom supporting the motion of wrist are passive. This paper outlines the kinematic structure of CLEVERarm, and the novel features of its design. Moreover, the control architecture is briefly introduced and some initial results are reported.