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A Passive Upper Limb Exoskeleton for Macaques in a BMI Study: Kinematic Design, Analysis, and Calibration

[+] Author Affiliations
Junkai Lu, Wenjie Chen, Kevin Haninger, Masayoshi Tomizuka

University of California, Berkeley, CA

Paper No. DSCC2014-6027, pp. V003T43A001; 9 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4620-9
  • Copyright © 2014 by ASME


Integrating an exoskeleton as an external apparatus for a brain-machine interface has the advantage of providing multiple contact points to determine body segment postures and allowing control to and feedback from each joint. When using macaques as subjects to study neural control of movement, a singularity-free upper limb exoskeleton is required to guarantee safe and accurate tracking of joint angles over all possible range of motion. In addition, the compactness of a design is of more importance considering macaques’ significantly smaller body dimensions than humans’. Proposed in this paper is a 6-degree-of-freedom (DOF) passive upper limb exoskeleton with 4 DOFs at the shoulder complex. System kinematic analysis is investigated in terms of its singularity and manipulability. A real-time data acquisition system is set up, and system kinematic calibration is conducted.

Copyright © 2014 by ASME



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