Pandora: Design of a 2-dof scapulohumeral exoskeleton device to support translation of the glenohumeral joint

Abstract

Post-stroke functional impairments of the arm effect a large and growing population of individuals. Numerous arm exoskeletons have been developed to help address the increasing therapy demands, but many have simplified the shoulder in ways that significantly limit its mobility. In this paper, a 2 degree-of-freedom (DOF) shoulder module is developed that can add sternoclavicular and acromioclavicular articulations to existing 3-DOF exoskeleton shoulders.