Design and Evaluation of a Novel Passive Shoulder Exoskeleton Based on a Variable Stiffness Mechanism Torque Generator for Industrial Applications

Abstract

Work-related musculoskeletal disorders (WMSDs) are a common occupational health problem in industries, and they can lead to decreased productivity and a reduced quality of life for workers. Exoskeletons, as an emerging technology, have the potential to solve this challenge by assisting arm movements and reducing muscle effort during load lifting tasks. In this paper, a passive exoskeleton based on a variable stiffness mechanism (VSM) torque generator is proposed and evaluated. This exoskeleton can provide adjustable torque curves and accommodate three degrees of freedom (DOFs) while remaining compact and lightweight. The workspace analysis shows that the workspace of this exoskeleton is sufficient for most industrial manual handling tasks. The experimental results demonstrate that the exoskeleton effectively reduces muscle effort during overhead reaching and load-lifting tasks, highlighting its effectiveness for repetitive tasks in industrial settings.