Design Simulations of the SJTU Continuum Arm Exoskeleton (SCAX)

In a clinical environment for rehabilitation therapy, one exoskeleton is usually shared by multiple patients. If the exoskeleton has a rigid structure which is actuated to mobilize a patient, it will be challenging to guarantee these on-site adjustments can make the rigid exoskeleton fit each patient kinematically perfectly. This paper proposes to design an exoskeleton using compliant continuum mechanisms. Its intrinsic flexibility allows the adaption to different human anatomies passively. The design concept, kinematics and design simulations are elaborated for this SJTU Continuum Arm Exoskeleton (SCAX). Combining previous experimental results for a proof-of-concept shoulder exoskeleton, the SCAX could effectively achieve consistent Anatomy Adaptive Assistances (AAA) for different patients with their limb motions.