Design of a new shoulder joint mechanism for an upper-limb exoskeleton robot

This paper proposes an effective shoulder joint mechanism for an upper-limb exoskeleton robot. Human glenohumeral joint moves in 3-dimention in accordance with the movement of the upper-limb such as the shoulder flexion/extension and abduction/adduction motion. In order to reduce the difference between the human glenohumeral joint position and the exoskeleton shoulder joint position, we propose a passive compensation mechanism which consists of links and sliders. This mechanism can imitate the movement of human glenohumeral joint without additional motors.