Exoskeleton to support the execution of upper limb movements in people with Duchenne muscular dystrophy

Abstract

An active exoskeleton for supporting upper limb movements in individuals with Duchenne muscular dystrophy is shown in the figure. It comprises seven active drive units connected in series. The seventh drive unit also contains a sensory end, which contains a measuring element used to measure forces and torques, i.e., a force and torque sensor, and a passive orthopedic element, e.g., an orthosis, into which the distal portion of the DMD patient's upper limb is inserted. This solution enables the sensory end of the seventh drive unit to move and rotate by means of seven active and independent rotations performed by individual drive units. All active rotations are implemented using servo-stepping motors. Each drive unit contains a servo-stepping motor to generate torque and a component for detachable connections to adjacent drive units.Furthermore, the first drive unit, the second drive unit, the third drive unit and the fourth drive unit further comprise a motor mount and a belt drive, and the fifth drive unit, the sixth drive unit and the seventh drive unit comprise a drive unit housing and a drive unit cover housing and a gear transmission.