Development of a light wearable exoskeleton for upper extremity augmentation

This study aims to develop a light and wearable exoskeleton controlled by Electromyography (EMG) signals for upper extremity augmentation to support the elbow and shoulder joints. This exoskeleton has four degrees of freedom, one for elbow joint and three for shoulder joint. The flexion and extension movements of elbow and shoulder joints are actively powered to support the wearer and other two DoFs of shoulder joints are freely passive. The processing of EMG signals and the mechanism and control system are developed. The movements of the exoskeleton are verified.