Upper-limb Exoskeleton for Power Augmentation

Abstract

This project addresses the design and development of a shoulder–elbow exoskeleton aimed at enhancing worker endurance and reducing musculoskeletal strain during repetitive industrial tasks. The work focuses on balancing effective torque assistance with lightweight design, safety constraints, and wearer comfort. We began by establishing biomechanical torque targets, then synthesized CAD models and actuation schemes. Early validation via simulation indicates that assistive torques in the range of 30–45 Nm (shoulder) and 15–20 Nm (elbow) can be delivered without compromising joint kinematics. We have produced mechanical design, iterated on shoulder and elbow mechanisms, selected a high-torque motor (Cubemars AK80-64 KV80), initiated a benchtop actuator test rig, and drafted safety and ethics protocols. Subsequent stages will include hardware fabrication, sensor integration, closed-loop control implementation, pilot trials, task performance, and user feedback. The outcome is expected to demonstrate that human-in-the-loop torque assistance can improve ergonomics and productivity in real industrial environments.