EXOTIC - A Discreet User-Based 5 DoF Upper-Limb Exoskeleton for Individuals with Tetraplegia

Abstract

Complete, high spinal cord injuries can lead to a condition known as tetraplegia wherein l body is paralyzed from the neck down. Individuals with tetraplegia are greatly limited in their independence and quality of life. Due to the paralysis, these individuals are bound to a wheelchair and require a high level of assistance throughout their everyday. To enable these individuals to regain some of their lost mobility, exoskeletons holds a great potential. Therefore, this work explores the requirements and design choices that went into creating the EXOTIC exoskeleton, an upper-limb exoskeleton designed for individuals with tetraplegia, which enables the user to drink and eat, while maintaining a relatively small form factor. Finally, the available workspace is simulated and visualized, and a pilot test of the basic functionality shows that picking up an item and transferring it to the mouth takes 41 seconds on average.