Аңдатпа
The aim: To evaluate the kinematic performance of a cable-driven elbow-wrist exoskeleton intended for upper limb rehabilitation in orthopaedic and post-traumatic conditions.Methods. A four-degree-of-freedom cable-driven exoskeleton was designed to assist elbow flexion-extension and multi-axis wrist motion. To reduce distal inertia and minimize joint misalignment commonly associated with rigid transmission systems, a cable-based actuation architecture was implemented. The elbow mechanism was configured as asingle-degree-of-freedom joint powered by two antagonistic motors enabling bidirectional torque generation and modulation of joint stiffness through co-contraction principles. The wrist module provided three rotational degrees of freedom actuated by four tendons, where three cables-controlled roll and pitch motions and a diagonally oriented cable enabled yaw rotation. Kinematic modeling was performed using homogeneous transformation matrices to establish forward and inverse kinematic relationships from theproximal fixation point to the distal platform. Numerical simulations were conducted in MATLAB, followed by experimental validation on a scaled prototype. Cable displacement responses were compared with theoretical inverse kinematic predictions throughoutthe operational workspace.Results. The developed system demonstrated consistent agreement between theoretical modeling and experimental measurements. The elbow module achieved controlled flexion and extension within a range from minus sixty to sixty degrees, with stable bidirectional motion and predictable cable displacement patterns. The wrist mechanism preserved smooth multi-axis rotation and maintained mechanical transparency across roll, pitch, and yaw movements without evidence of kinematic singularities within the tested workspace. Experimental results confirmed accurate mapping between joint angles and cable actuation lengths, supporting the validity of the proposed kinematic model.Conclusion. The proposed cable-driven elbow–wrist exoskeleton demonstrates reliable kinematic performance and reduced mechanical inertia compared to rigid transmission systems. The validated modeling framework establishes a foundation for the future implementation of hybrid position and torque control strategies in orthopaedic upper limb rehabilitation technologies.Keywords:exoskeleton devices, upper extremity, rehabilitation, biomechanics, kinematics, robotics.