A Bio-Inspired Assistive Exoskeleton for Supporting Shoulder and Daily Activities

Abstract Most assistive exoskeletons in the literature rely on rigid components and direct shoulder joint actuation, which results in excessive load on the user's upper body. To address this limitation, we present the design and development of a daily assistive stroke patient exoskeleton (DASPE), a cable-driven, semicompliant exoskeleton intended to support stroke patients by mirroring the motion of their healthy arm. Motion data from inertial sensors placed on the healthy arm are used to compute joint angles, allowing the exoskeleton to mirror elbow and shoulder movements. The design incorporates compliant elements at the spine and shoulders to allow flexible motion and avoid bulky, rigid components. Initial testing demonstrates the system's ability to perform elbow flexion–extension, shoulder abduction–adduction, and shoulder flexion–extension, with good alignment between user and exoskeleton motion for angles up to 35 deg.