Design and Evaluation of a Novel Passive Shoulder Exoskeleton Based on VSM Torque Generator

Abstract

This paper presents the design and evaluation of a passive shoulder exoskeleton based on the variable stiffness mechanism (VSM). The exoskeleton aims to reduce physical effort during repetitive manual handling tasks in industrial settings. The design comprises a lightweight structure and torque generators. With adoption of VSM, a compact and configurable torque generator is designed to provide torque assisting arm carrying and lifting. Experimental results show that the exoskeleton effectively reduces physical effort while remaining comfortable and easy to use.