Design of a Passive Shoulder Lifting Exoskeleton of Human-Machine Multi-Link ^*

摘要

Aiming at the fatigue and soreness of shoulder muscles caused by lifting arm with hand tools under specific conditions in factories, a passive shoulder-lifting exoskeleton was designed to assist human shoulder support. Based on the human upper limb movement characteristics, the exoskeleton man-machine multi-link design is carried out to improve the flexibility of upper limb movement. A cam spring energy storage mechanism is designed to assist the upper limb operating space above the chest by shoulder exoskeleton, and the exoskeleton has no resistance to the upper limb when walking. Through the selection and dynamics simulation of the spring of cam energy storage mechanism, the two-mode state of boost and non-resistance is analyzed. Finally, the effect of exoskeleton on shoulder was analyzed by EMG experiment. The experimental results show that exoskeleton can reduce the muscle activity of shoulder muscle. The whole work shows that the shoulder exoskeleton can solve the problem of shoulder muscle fatigue during arm lifting, and has practical significance and application value.