16 Design and Testing of WREX
A passive gravity-balanced, 4 DoF arm orthosis was built for children with arm weakness such as in muscular dystrophy. The orthosis is identically gravity balanced in 3D with linear elastic elements. The orthosis has an exoskeletal configuration and is attached to the back of a wheelchair. Algorithms that yield an improved gravity-balancing scheme are derived and a new mechanical structure of the arm presented. Our experience with user trials is presented along with early results using the Jebsen test of hand function and other subjective user feedback.
KeywordsMuscular Dystrophy Hand Function Functional Independence Measure Object Manipulation User Trial
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