فهرست نشریات علمی دسترسی آزاد ایران

This research presents the development and evaluation of a robotic exoskeleton designed to assist individuals with muscle weakness or physical disabilities in performing lower arm movements. The exoskeleton is controlled by electromyography (EMG) signals captured from the tricep and bicep muscles, allowing it to amplify the patient's arm motion. The system's design includes a mechanical structure powered by servo motors at the elbow joint, a signal acquisition module, and a closed-loop controller. The EMG signals are processed to generate movement commands, enabling smooth and controlled elbow flexion and extension. The exoskeleton's performance was tested on a subject, with results indicating effective torque generation and smooth motion during arm movements. The system also provided real-time data on position, velocity, acceleration, and applied torque. The action of picking an object and lifting and placing was done during experimental test with human sample to measure efficiency and performance of this exoskeleton via sensors and expert sight in lab evaluations. This research demonstrates the potential for exoskeletons to enhance rehabilitation and assist individuals with disabilities in performing daily tasks, contributing to improved quality of life.