Hsieh, HsiangchienHsiangchienHsiehChien, Li ChienLi ChienChienCHAO-CHIEH LAN2025-09-242025-09-242015https://www.scopus.com/inward/record.uri?eid=2-s2.0-84938243618&doi=10.1109%2FICRA.2015.7139893&partnerID=40&md5=0f0ce8c8b0c085072545edf4766a8a5dhttps://scholars.lib.ntu.edu.tw/handle/123456789/7324482015 IEEE International Conference on Robotics and Automation, ICRA 2015. Seattle; WA; Washington State Convention Center. conference code:113196Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents a new exoskeleton design aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of a parallel spherical mechanism with two slider crank mechanisms. The actuators can be placed on a stationary platform and attached closely to human body. Thus a better inertia property can be obtained while maintaining lightweight. Through the use of a gravity-balancing mechanism, the required actuator power becomes smaller and with better efficiency. A static model is developed to analyze and optimize the exoskeleton. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.Gravity-balancingSpherical MechanismsUpper Limb ExoskeletonsWearable DevicesActuatorsAgricultural RobotsBalancingDegrees Of Freedom (mechanics)Wearable TechnologyGravity-balancingInertia PropertiesMultiple Degrees Of FreedomSlider-crank MechanismSpherical MechanismsStationary PlatformsUpper LimbsWearable DevicesExoskeleton (robotics)[SDGs]SDG16conference paper10.1109/ICRA.2015.71398932-s2.0-84938243618