Abstract
Upper extremity rehabilitation exoskeletons are the key devices for stroke patients with movement function disorders. Based on the configuration synthesis and optimum principles of 4-DOFs upper limb exoskeleton mechanisms, an exoskeleton mechanism compatible with upper limb were presented. When the exoskeleton was worn to the upper extremity, a kinematic chain with two closed loops was formed. Moreover, the kinematic equations of the chain were established and a position solution method was addressed. Based on the presented position solution, the kinematic characteristics during eating movement were investigate. The conclusion suggested that the exoskeleton was applied to the upper extremity rehabilitation and can be applied as main structural design parameters for the presented exoskeleton.
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