Design and Analysis of Upper Limb Passive Exoskeleton Robot for Lift Assist

Abstract . Exoskeleton robots are developing rapidly in the field of industrial manufacturing and medical rehabilitation as an intelligent wearable power assist device, which can reduce lifting burden muscle fatigue. Existing upper limb passive exoskeleton still need to be improved for human-machine integration. In this paper, by establishing a human kinematic model lumbar spine motion model, is analyzed, design principle integration used complete limb. structural design, robot divided into 4 modules, combined with specific form spring energy storage module cam curve EMG test system collect surface user without wearing robot. According signal data, experiment shows that amplitude state smaller than non-wearing signal, activation varies from 0 10%, verifies effectiveness exoskeleton.