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“Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity”

Authors: Lelai Zhou, Shaoping Bai, Michael Skipper Andersen and John Rasmussen,
Affiliation: Vestas Wind Systems A/S and Aalborg University
Reference: 2015, Vol 36, No 3, pp. 167-177.

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Keywords: Exoskeleton, cable-driven, musculoskeletal model, optimization, biomechanics

Abstract: An approach to the design of wearable exoskeletons on the basis of simulation of the exoskeleton and a human body model is proposed in this paper. The new approach, addressing the problem of physical human-exoskeleton interactions, models and simulates the mechanics of both the exoskeleton and the human body, which allows designers to effectively analyze and evaluate an exoskeleton design for their function in concert with the human body. A simulation platform is developed by integrating a biomechanical model of the human body and the exoskeleton. With the proposed approach, an exoskeleton is designed for assisting patients with neuromuscular injuries. Results of the analysis and optimization are included.

PDF PDF (1474 Kb)        DOI: 10.4173/mic.2015.3.4

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  title={{Modeling and Design of a Spring-loaded, Cable-driven, Wearable Exoskeleton for the Upper Extremity}},
  author={Zhou, Lelai and Bai, Shaoping and Andersen, Michael Skipper and Rasmussen, John},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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