Control investigation of a customizable/adjustable exoskeleton upper‐limb

The purpose of this paper is to investigate the mechanical, kinematic and biological aspects that would be required for a customized upper limb exoskeleton prototype operation.

The research contained a literature survey, design, simulation, development and testing of an exoskeleton arm.

An adjustable/customizable exoskeleton arm was developed with a kinematic model to allow the desired motion. Tests were performed to determine the feasibility of the system.

The paper shows how the authors researched, designed and developed an exoskeleton arm that had similar mechanical properties to those of a biological arm. The exoskeleton must allow customization and be adaptable to the operator, without the need for major alterations.