PASSIVE UPPER LIMB EXOSKELETON: MECHANISM DESIGN AND PROTOTYPE DEVELOPMENT

Abstract

An exoskeleton is a wearable robotic device, powered with passive or active systems, that allows limbs or trunk movement with increased strength and/or endurance. This is in line with the philosophy of Industry 4.0, in which humans can be assisted by technological devices in difficult or unsafe tasks. Various passive upper limb exoskeletons have been developed in the last years for indus trial applications. In particular, occupational tasks that require postures with elevated arms or overhead works, and hence represent a high risk factor for mus culoskeletal disorders, are considered. Passive exoskeleton devices give a fixed contribution, independently from the external applied load. Usually they are de signed to compensate, partially or totally, the gravity forces acting on the limb or on the trunk. However only few studies investigated effectiveness, usability, comfort, drawbacks and biomechanical strains associated to the use of upper limb exoskeleton in power augmentation tasks. The proposed project aims to develop an assistive exoskeleton designed for surgeons in clinical settings. The assistive functionality will be achieved through gravity compensation, utilizing passive 4-bar mechanisms. A key advantage of such an exoskeleton should lie in its reliance on a mechanism that eliminates the need for electrical components and actuators. Consequently, the device should be lightweight and relatively simple to manufacture. The primary mechanical components of the exoskeleton will consist of 3D printed linkages and springs.