Design, Analysis and Experiment of A Non-humanoid Arm Exoskeleton for Lifting Load

摘要

Aiming to the interference with human body problem of the traditional arm exoskeleton, a non-humanoid arm exoskeleton is presented. The non-humanoid arm exoskeleton has a lager motion space, which is 20.8% more than the humanoid arm exoskeleton. The statics of the non-humanoid structure is analyzed. The minimal interaction force control strategy between the arm exoskeleton and human is used in the control system for lifting load experiment, and the subjects can lift the load of 5Kg easily. Additionally, the response time of adjusted control system reduce 86.25% according the control system without PID.