EWA 2: A Single Size Self-adapting Exoskeleton Without Adjustment for the Upper Limb

This paper focuses on the design of an upper limb exoskeleton without articular adjustment. It includes a shoulder articulation and explores potential transmission systems applicable to the exoskeletal actuators. A key feature of this exoskeleton is its ability to dynamically adapt between human and exoskeleton joints, thereby mitigating stress on human joints and reducing non-linearity between motor input and human joint output angles. To assess the performance of a 3D printed prototype of the exoskeleton, a dummy with adjustable body segment lengths was fabricated. In vitro experiments utilizing a flexible force sensor confirm that the exoskeleton does not subject the dummy’s joints to overstress.