Static forces analysis focused in the upper extremity exoskeleton of 4 DOFs design

About the upper extremity exoskeleton (UEE) designs, they exist many approaches as many applications and morphologies that the UEE has, that reason we made a review of the most used techniques for an UEE. So we intend to propose a methodology of design based in a geometrical and static analysis of the upper extremity (UE), according with the models presented by Barny Le Veau, and that way make registry about a useful UEE design, according with the natural movement and charges of the UE followed the geometrical forms that it generates to find the resultant vectors, to describe the movement and force transition. All calculations are presented in units of the SI.