A Compact and Portable Exoskeleton for Shoulder and Elbow Assistance for Workers and Prospective Use in Space

Abstract

Exoskeletons are wearable robotic devices that surround the anatomy of the user to work in tandem with it. Depending on their structure, exoskeletons can be classified as rigid or flexible. The structure of flexible exoskeletons is made of soft materials, such as fabrics, which adapt to user motion. Therefore, these devices are prone to becoming misaligned with the user, due to improper fitting and slipping of the exoskeleton components on the user body. This article describes a cable-driven exosuit, called <i>LUXBIT</i>, that favors its anatomical adaption to the user by arranging the fabric fibers and sewing patterns to transfer the mobilizing forces. This prototype integrates a novel deformable mechanism that promotes the natural lifting of the arm. <i>LUXBIT</i> is intended for bimanual assistance in daily living, being equipped with a backpack to this end. The results analyzed in this article show that <i>LUXBIT</i> reduces muscle activity in the upper limbs&#x2019; flexion by ratios of up to 13.17&#x0025; and allows the user to hold tiring postures for 62.91&#x0025; longer.