Shoulder Rehabilitation Robotic Exoskeleton

Tools & Technologies: CAD, 3D printing, four-bar linkage design, cable-driven parallel mechanisms, mechanical prototyping

• Designed and built a 5-DOF hybrid robotic shoulder exoskeleton, a 2-DOF rotational four-bar linkage combined with a 3-DOF cable-driven parallel mechanism, enabling full-range shoulder rotations while preserving alignment with the human glenohumeral joint center of rotation.
• Developed 3D-printed miniature prototype models to validate human-robot mechanism coupling before scaling up to the full device.
• Completed a fully assembled, wearable exoskeleton targeting intensive task-specific exercises for stroke survivors, bridging the gap between mechanical design and clinical rehabilitation requirements.
• Work originated as a BS graduation project at Nazarbayev University and was extended into a fully functional device at the Center of Excellence in Medical Robotics & Research (CEMRR).

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