An Exoskeleton for Overhead Work Support Equipped with Pneumatic Artificial Muscles: An Insight on Transmission Design

Exoskeletons are wearable systems designed to assist human limb movement and reduce human muscle effort. Passive upper-limb exoskeletons are recently spreading in industrial environments to aid workers during long, repetitive overhead tasks. Generally, these devices engage spring systems to counterbalance the gravitational torque about the shoulder joint. This paper investigates and compares the effects of two different transmissions on the performance of a passive upper-limb exoskeleton based on pneumatic artificial muscles. Simulation results highlight that the different design solutions can either favor a wider range of motion or, alternatively, a better ergonomics and ease of assembling and wearing the device.