Modular design and modeling of an upper limb exoskeleton

In this paper, we use modular design method to construct a 4-DoF (Degrees Of Freedom) upper limb exoskeleton. The structure is very simple, and is easy to be modified. Articulation of the exoskeleton is achieved four revolute joints: three for the shoulder and one for the elbow. Static and dynamic models of this exoskeleton are proposed. Experiments and analysis of the exoskeleton robot are carried out to evaluate the effectiveness of the design.