Design of a Cable-driven Actuator for Pronation and Supination of the Forearm to Integrate an Active Arm Orthosis

The pronation/supination of the forearm is an important set of movements to properly accomplish the activities of daily living. While several exoskeletons have been proposed for the rehabilitation of the arm, few of them have actively implemented the movements of pronation/supination. Often, the addition of this degree of freedom to the mechanism results in a bulky and heavy structure. Consequently, the overall exoskeleton is too big for a wearable solution. This paper proposes a digital prototype and kinematic evaluation of a cable-driven orthosis for pronation/supination movement assistance. The actuator is based on an open ring (semi-circle) to be attached to the forearm, while a stationary guide drives the ring into a rotary movement. By considering anthropomorphic data in the design stage it is possible to develop a rigid, compact, and high power to weight ratio solution for the actuator responsible for pronation and supination. The proposed actuator can achieve the full range of motion for the activities of daily living and 83% of the rotation of the forearm total range of motion with a total mass of only 150 grams.