List of Contributors . xix CHAPTER 1 Upper Limb Exoskeleton Systems-Overview .1 Yang Shen, Peter Walker Ferguson and Jacob Rosen 1.1 Introduction . 1 1.2 Overview of Upper Limb Exoskeleton Systems . 2 1.2.

1 Mechanism . 3 1.2.2 Actuation . 4 1.3 Assistive Upper Limb Exoskeletons. 8 1.3.

1 AIST. 9 1.3.2 SUEFUL-7 . 9 1.3.3 MULOS. 9 1.

3.4 HAL. 9 1.3.5 ABLE . 9 1.3.6 MyoPro.

9 1.4 Rehabilitation Upper Limb Exoskeletons. 10 1.4.1 MIT-MANUS. 10 1.4.2 NeReBot .

10 1.4.3 ARM Guide. 10 1.4.4 ReoGo. 11 1.4.

5 GENTLE/s. 11 1.4.6 ACT3D . 11 1.4.7 iPAM. 11 1.

4.8 Bi-Manu-Track. 11 1.4.9 MIME. 11 1.4.10 KINARM.

11 1.4.11 L-Exos . 12 1.4.12 BONES. 12 1.4.

13 ARMin III . 12 1.4.14 MGA. 12 1.4.15 IntelliArm . 12 1.

4.16 MEDARM. 13 1.4.17 Exorn . 13 1.4.18 SRE.

13 1.4.19 RUPERT IV . 13 1.4.20 RehaBot. 13 1.4.

21 ETS-MARSE. 13 1.4.22 Recupera-Reha . 13 1.4.23 EXO-UL Series . 14 1.

5 Augmentation Upper Limb Exoskeletons. 14 1.5.1 SARCOS Guardian XO . 15 1.5.2 SARCOS Guardian GT. 15 1.

5.3 ShoulderX from SuitX . 15 1.5.4 EksoVest from Ekso Bionics . 15 1.6 Others . 15 1.

6.1 EXARM . 15 1.6.2 X-Arm-2 . 16 1.6.3 SARCOS Master Arm.

16 1.6.4 SAM . 16 1.6.5 CAPIO. 16 1.6.

6 SARCOS Dextrous Arm. 16 1.6.7 EMY. 16 1.7 Conclusion . 16 References. 17 CHAPTER 2 Development and Control of an Upper Extremity Exoskeleton Robot for Rehabilitation.

23 Brahim Brahmi, Maarouf Saad, M.H. Rahman, Cristobal Ochoa-Luna and Islam Rasedul 2.1 Introduction . 23 2.2 Characterization of System Rehabilitation . 25 2.2.

1 Exoskeleton Robot Development . 25 2.2.2 Dynamics of Ecole de Technologie Suprieure Robotic-exoskeleton for Superior Extremity Robot. 25 2.2.3 Problem Statement . 27 2.

3 Control Design . 28 2.3.1 Uncertain Estimation . 28 2.3.2 Estimation of the State of the System . 28 2.

3.3 Design of Integral Second-Order Terminal Sliding Mode Controller. 30 2.3.4 Active Assistive Motion . 34 2.4 Experiment and Comparative Study. 35 2.

4.1 Experiment Setup. 35 2.4.2 Results of Passive Assistive Motion. 37 2.4.3 Comparative Study.

37 2.4.4 Results of Active Assistive Motion. 39 2.5 Conclusion . 42 2.6 Ethics Statement. 42 Acknowledgments .

42 References. 42 CHAPTER 3 Design of the Arm Exoskeleton ABLE Achieving Torque Control Using Ball Screw and Cable Mechanism. 45 Philippe Garrec 3.1 Introduction . 45 3.2 The SCS Mechanism: A New Answer to the Challenge of Linear Torque Amplification. 45 3.2.

1 Mechanical Reversibility/Irreversibility-Backdrivability-Torque Transfer Linearity .