Design and Assessment of a Modular Exoskeleton for Lifting Bimanual Loads

This article proposes a new model of modular exoskeleton that assists the lifting of loads through electrome-chanical systems. With a mainly rigid structure, the exoskeleton has an innovative articulated system in the back region that guarantees freedom of movement during the performance of the activity. The main mechanisms of motion control in the shoulder and elbow joints are described, highlighting the role of the actuators of the latter joint, which generate the torque that allows the movement of the forearm. To this end, the study includes an analysis of the results obtained in relation to the assistance capacity shown by the servomotors according to the perception of different subjects.