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Related Experiment Video

Updated: Apr 28, 2026

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
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Human movement training with a cable driven ARm EXoskeleton (CAREX).

Ying Mao, Xin Jin, Geetanjali Gera Dutta

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |June 12, 2014
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    Summary
    This summary is machine-generated.

    This study demonstrates the effectiveness of the CAREX lightweight exoskeleton for upper arm rehabilitation. CAREX assists users in following movement paths, showing promise for both healthy individuals and stroke patients.

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    Area of Science:

    • Robotics
    • Rehabilitation Engineering
    • Biomechanics

    Background:

    • Lightweight cable-driven parallel mechanism exoskeletons offer potential for upper limb rehabilitation.
    • Previous work demonstrated the feasibility of the CAREX (Cable-Driven Exoskeleton) system on human subjects.
    • Addressing challenges in human-exoskeleton interaction is crucial for effective assistive devices.

    Purpose of the Study:

    • To optimize the CAREX system for human subjects, focusing on continuous cable tension generation.
    • To evaluate the feasibility and effectiveness of CAREX for movement training in healthy individuals and stroke patients.
    • To demonstrate the application of "assist-as-needed" force fields for rehabilitation.

    Main Methods:

    • CAREX was rigidly attached to an arm orthosis worn by human subjects.
    • Optimized cable routing points to maximize the "tensioned" static workspace.
    • A novel cable tension planner utilizing quadratic programming generated smooth, continuous tension trajectories.

    Main Results:

    • Experiments with eight healthy subjects showed CAREX facilitated movement towards a circular path via generated force fields.
    • Healthy subjects demonstrated rapid adaptation to the training path.
    • Evaluation on a stroke patient indicated successful assistance in moving towards a straight-line path using "assist-as-needed" forces.

    Conclusions:

    • The CAREX system is feasible and effective for upper limb movement training in both healthy individuals and patients with neural impairments.
    • Optimized design and advanced control strategies enable smooth and effective human-exoskeleton interaction.
    • CAREX shows significant potential as an assistive tool in neurorehabilitation.