An Upper Limb Exoskeleton Design for Reduced Gravity Training of Astronauts

摘要

A wearable passive exoskeleton is proposed for reduced gravity astronauts training .The main component unit of the proposed robotic exoskeleton is the spring-based parallelogram mechanism which can passively balance any proportion of the gravity load acting on it through designing an appropriate stiffness of the spring or adjusting the install position of the spring .A conceptual exoskeleton model capable of gravity compensation for upper limbs applying to such technology is designed and the corresponding simulation is presented ,in which the muscle activa-tions are collected to show the effectiveness of the design .