Conceptual design and virtual prototyping of a wearable upper limb exoskeleton for assisted operations

Abstract This paper introduces a novel upper limb robotic exoskeleton designed to assist industrial operators in wide range of manual repetitive tasks, such as tool handling and lifting/moving heavy items. Due its reduced size high maneuverability, the proposed portable device may also be employed for rehabilitation purposes (e.g. an aid people with permanent neuromuscular diseases or post-stroke patients). Its primary function is compensate gravity loads acting on human shoulder by means hybrid system consisting four electric motors three passive springs. The focuses mechanical design virtual prototyping. After preliminary review existent architectures procedures aimed at defining functional requirements, detailed behavioral analysis conducted using analytical numerical approaches. developed interactive model allows simulate both kinematics statics every possible movement within workspace. To validate model, results have been compared ones achieved commercial multibody software different operator’s movements.