Theses and Dissertations Collection

This thesis describes the development and design of a two-DOF scapulohumeral device. The theory of employing clavicular motion to control scapulothoracic movement is explored and ultimately used as the principle concept of this research. The result is PANDORA, a dual four-bar mechanism that is independent of location via its unique ability to maintain a parallel relationship between its coupler and ground links. Furthermore, its overall rigidity allows it to serve as the base link for the project to which it is attached, BLUE SABINO. Thus PANDORA also serves to gravity balance the entirety of the exoskeleton. FEA simulations reveal PANDORA performs better than anticipated. This is due in part to the synergy of the component design. The topic of synergy and further aspects of the FEA simulation results are discussed followed by identification of potential future work. Finally, the need for additional testing and experimental verification is emphasized.