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.