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A conceptual exoskeleton shoulder design for the assistance of upper limb movement

Perez, Carlos Navarro; Georgilas, Ioannis; Etoundi, Appolinaire; Chong, Jj; Jafari, Aghil


Carlos Navarro Perez

Ioannis Georgilas

Jj Chong


© Springer International Publishing AG, part of Springer Nature 2018. There is an increased interest on wearable technologies for rehabilitation and human augmentation. Systems focusing on the upper limbs are attempting to replicate the musculoskeletal structures found in humans, reproducing existing behaviors and capabilities. The current work is expanding on existing systems with a novel design that ensures the maximum range of motion while at the same time allowing for lockable features ensuring higher manipulation payloads at minimum energy and fatigue costs. An analysis of the biomechanics of the shoulder is being done and a detailed system design for structural as well actuation elements of a parallel mechanism is given. The benefits for the use are discussed of reduced weight, maximum range of motion at minimum energy cost.


Perez, C. N., Georgilas, I., Etoundi, A., Chong, J., & Jafari, A. (2018). A conceptual exoskeleton shoulder design for the assistance of upper limb movement. Lecture Notes in Artificial Intelligence, 10965 LNAI, 291-302.

Journal Article Type Conference Paper
Conference Name Towards Autonomous Robotic Systems (TAROS) Conference
Start Date Jul 25, 2018
End Date Jul 27, 2018
Acceptance Date Apr 12, 2018
Publication Date Jan 1, 2018
Journal Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Print ISSN 0302-9743
Electronic ISSN 1611-3349
Publisher Springer Verlag
Peer Reviewed Peer Reviewed
Volume 10965 LNAI
Pages 291-302
ISBN 9783319967271
Keywords exoskeleton design, assistive systems, wearable technology
Public URL
Publisher URL
Additional Information Additional Information : This is the accepted version of the article. The published version is available online at
Title of Conference or Conference Proceedings : Towards Autonomous Robotic Systems (TAROS) Conference


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