Supplementary software: The design of the Dummy Arm: a verification tool for arm exoskeleton development

Matlab code for determining the cam shape based on a given torque-angle profile for the elbow joint stiffness of the Dummy Arm using an ordinairy coil spring. Based on the work of Tidwell (Wrapping cam mechanisms). The code incrementally solves for the cam shape given the a specified input (pulley) and output (Cam) torque.本Matlab代码可基于给定的扭矩-角度轮廓曲线，求解采用普通螺旋弹簧的假臂（Dummy Arm）肘关节刚度对应的凸轮轮廓。本研究基于Tidwell关于《包裹式凸轮机构》的相关工作。该代码可根据指定的输入端（滑轮）与输出端（凸轮）扭矩，逐步求解得到凸轮轮廓形状。