Design of Parallel Exoskeleton System for Wrist Tremor Suppression

Abstract

This paper introduces the design of a Parallel Exoskeleton for Wrist Tremor Suppression (PEWTS). The design features dual six degree-of-freedom (DOF) subsystems that aim to be compact and suppress tremors in both radial/ulnar deviation (RUD) and flexion/extension (FE) motions of the wrist. A linear Series Elastic Actuator is employed, to provide compactness and back drivability to the system which would make the orthoses more human-compatible. The presented study focuses on providing a fundamental understanding of the working of PEWTS and investigating its feasibility through kinematic workspace analysis.