Design and Experiments of an Upper-Limb Exoskeleton Robot

This paper presents design of mechanical structure and control method for an upper-limb powered exoskeleton platform. The exoskeleton shoulder frame is composed of 3 revolution joints that are connected serially to enable 3 DOF motion of human shoulder. Interaction forces between a user and the robot are used to predict the user's intention of motion. A prototype and preliminary experiments are also reported in this paper.