EXO-UL Upper Limb Robotic Exoskeleton System Series: From 1 DOF Single-Arm to (7+1) DOFs Dual-Arm

Abstract A human-in-the-loop system has long been recognized as a complex system due to the difficulty in modeling and predicting the environment’s (human’s) fluctuation. The question becomes even complicated when the human in the loop suffers from a stroke, which disables one’s upper limb with weakness, abnormal synergy, and/or spasticity. From different perspectives including mechanical design, control, and human motion analysis, this chapter works as an illustrative piece demonstrating to the audience the development process of the authors’ lab working on upper limb exoskeleton robotic systems for stroke patients’ rehabilitation training: EXO-UL1, EXO-UL3, EXO-UL7, and EXO-UL8.