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Design of a Robotic Exoskeleton Force Multiplier for Upper Limb

Abstract— This researching is based on the design and implementation of a force multiplier exoskeleton for upper limb with two degrees of freedom. This study focuses on a type of current exoskeleton that improves the motor functions of the human body by increasing the strength, speed and physical resistance of the user. The exoskeleton is based on the anthropometry of the Ecuadorian population and human biomechanics for the modeling of the exoskeleton that was based on the mathematical model of its kinematics; in addition, the design was validated with CAE software in which mechanical simulations and analysis were performed of finite element stresses to determine the safety of the system. In the same way, when using inverse kinematic analysis, the non-linear relationship between the position and orientation of the end of the exoskeleton with respect to a reference coordinate system is determined. These parameters were applied in the design of the control system which uses sensors to determine their position and orientation to execute the required movements by means of a joystick. The intention of the exoskeletal device is to be implemented in an industrial work environment, since it can lift and transport loads of up to 120 Newton. 

Index Terms— Exoskeleton, upper limb, strength industry