Wearable Auxiliary Robotic Forearm

Abstract

For individuals who have some type of physical mobility problem, they need rehabilitation tools that replace their limb capabilities or assistive devices that enhance their limb functions. While for most people, assistive robotic arms can be used as additional limbs to help them perform operations that cannot be conducted with one hand, extending the functional range of the human arm, such as grasping objects at heights. In this paper, a wearable forearm assistive robotic arm with multiple degrees of freedom is studied and constructed with various types of lightweight materials and is mainly composed of three parts: a mechanical arm telescoping part, a mechanical claw part and a wearing part. The interaction is carried out by button through arduino design program. The performance of this robotic arm is investigated through experiments as well as controls in the grasping and assisted handover scenarios.