Optimization of a Parallel Shoulder Mechanism to Achieve a High-Force, Low-Mass, Robotic-Arm Exoskeleton

This paper describes a robotic-arm exoskeleton that uses a parallel mechanism inspired by the human forearm to allow naturalistic shoulder movements. The mechanism can produce large forces through a substantial portion of the range of motion (RoM) of the human arm while remaining lightweight. This paper describes the optimization of the exoskeleton´s torque capabilities by the modification of the key geometric design parameters.