A Nonlinear Kinostatic Optimization Synthesis for Circumduction Generation Exoskeleton.

Rehabilitation is necessary for those with restricted arm mobility to enhance arm movement efficiency and offer dynamic stability. Recent research initiatives are aimed at supporting the rehabilitation of individuals with disabilities or injuries that limit arm movement. Accordingly, the RRSS (Revolute-Revolute-Spherical-Spherical) exoskeleton mechanism for circumduction motion is proposed in this study. The objective is to ascertain the parameters of the mechanism required to accomplish or approximate a sequence of prescribed circumduction positions. When a rigid body needs to operate according to a precise displacement sequence, this design is appropriate which is considered as a nonlinear kinostatic optimization problem. The problem can be formulated with constraints concerning driven link buckling, driver static torque, and driver elastic deflection. The suggested RRSS circumduction motion production process is used to simulate and analyze the workspace of the arm and shoulder as well as muscle activity. Significant changes in the reactions of the muscles, bones, and joints movement were noted during virtual testing of the suggested exoskeleton on a human arm. Some tremendous results of exoskeleton joints and human arm fusion were found. Some computations were made for the deltoid muscles, which control arm movement in the scapular plane, the FCU (Flexor Carpi Ulnaris) muscle, which is located in the forearm and controls hand flexion and adduction, and the caput breve, a short head of biceps brachii muscles. [ABSTRACT FROM AUTHOR]