Figure 1. New prototype and kinematic diagram. (a)

Figure 1. New prototype and kinematic diagram. (a)

Figure 1. New prototype and kinematic diagram. (a) Perspective view of spring-loaded exoskeleton for resistance training
(SLERT). (b) Kinematic diagram of SLERT. 1 = rotational angle for shoulder horizontal abduction-adduction, 2 = rotational
angle for shoulder abduction-adduction, 3 = rotational angle for shoulder flexion-extension, 4 = rotational angle for elbow
flexion-extension, A = connection point, B = connection point, E = elbow joint, Fh = external load, H = middle of palm of hand, K
= spring, m3 = mass of link 3, m4 =mass of link 4, Mf = center of mass of forearm, Mu = center of mass of upper arm, P =
intersection of axes z1* and z2, P* = intersection of link 1 and link 2, S = glenohumeral joint.

Wu TM, Chen DZ. Biomechanical study of upper-limb exoskeleton for resistance training with threedimensional motion analysis system. J Rehabil Res Dev. 2014;51(1): 11126.
http://dx.doi.org/10.1682/JRRD.2012.12.0227
ResearcherID/ORCID: Dar-Zen Chen, PhD: D-1463-2012

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