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. 2014 Dec 1;8:947. doi: 10.3389/fnhum.2014.00947

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Copyright © 2014 Jarrassé, Proietti, Crocher, Robertson, Sahbani, Morel and Roby-Brami.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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(A) Visualization of the strain distribution on a human arm performing a flexion movement when it is rigidly connected to a simple 1 DoF elbow exoskeleton with misaligned joint axes (Simulated with Solidworks^©). Red areas represent the stress concentration zones. (B) Kinematic representation of a 4-DoF exoskeleton attached to a human arm (both with 3-DoF ball joint at the shoulder + 1 pivot joint at the elbow) using passive joint fixations (Jarrassé and Morel, 2012). (C) Four active DoF exoskeleton (ABLE, see Garrec et al. (2008)) with its set of passive DoF fixations.