Structure design and analysis of upper limb wearable passive power-assisted exoskeleton robot

Abstract The upper limb exoskeleton robot has been a key research direction at home and abroad in recent years. Still, the existing poor coupling with human body, power assistance effect could be better. In this paper, strength of each muscle group when body is carrying objects measured as reflected by surface EMG signal kinematics analyzed to guide design passive limb. First, spring tension compression system model established for body. statically analyzed, forces moments on joint are calculated, muscle’s actual output data estimated. Based model, designed. divided into three modules, namely, arm module, shoulder back using ergonomics modular ideas. energy storage module degree freedom ensure that meets requirements ergonomics, components checked simulated. results show designed wearable power-assisted requirements, which verifies rationality structure design.