Mechanical design of a gravity-balancing wearable exoskeleton for the motion enhancement of human upper limb

Hsiang Chien Hsieh, Li Chien, Chao Chieh Lan

Research output: Contribution to journalConference articlepeer-review

11 Citations (Scopus)


Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents a new exoskeleton design aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of a parallel spherical mechanism with two slider crank mechanisms. The actuators can be placed on a stationary platform and attached closely to human body. Thus a better inertia property can be obtained while maintaining lightweight. Through the use of a gravity-balancing mechanism, the required actuator power becomes smaller and with better efficiency. A static model is developed to analyze and optimize the exoskeleton. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.

Original languageEnglish
Article number7139893
Pages (from-to)4992-4997
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue numberJune
Publication statusPublished - 2015 Jun 29
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 2015 May 262015 May 30

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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