ExARM: The Design and Fabrication of an Exoskeleton for the Assistance and Rehabilitation of Muscles

Abstract

Powered exoskeletons have the ability to perform a simple and desirable task: making humans stronger. From stroke patient rehabilitation to assisted manual labor, the benefits of an external source of augmented strength, specifically arm strength, span a variety of markets. Current arm exoskeletons are expensive and limited in their usability by bulky frames, various tethers, and their reliance on external controllers. The goal of this project was to create a cost-effective, untethered, low-profile exoskeleton that works with the user by providing strength assistance in response to arm muscle contractions. The final design is powered by a pneumatic cylinder and controlled by electromyography (EMG) sensors with various modes of use for applications in both strength assistance and arm rehabilitation. It is capable of adding up to 20 pounds of force on an object held in the user’s hand and can provide useful data to physicians throughout the rehabilitation process. Its wide variety of uses and cost-effective design give the ExARM potential to make a significant market impact after further detailed development.