Hsieh, HsiangchienHsiangchienHsiehChien, Li ChienLi ChienChienCHAO-CHIEH LAN2025-09-242025-09-242015https://www.scopus.com/inward/record.uri?eid=2-s2.0-84951098715&doi=10.1109%2FAIM.2015.7222614&partnerID=40&md5=fd012f2fbb54e7b471d9d05414aaf5d9https://scholars.lib.ntu.edu.tw/handle/123456789/732446IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015. Busan; BEXCO. conference code:117136Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Compared with lower limb exoskeletons, upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient augmentation force. Designs using serial mechanisms usually result in complicated and bulky exoskeletons that prevent themselves from being wearable. This paper presents a new exoskeleton aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of two spherical mechanisms with two slider crank mechanisms. The actuators can be made stationary and attached side-by-side, close to a human body. Thus better inertia properties can be obtained while maintaining lightweight. The dimensions of the exoskeleton are synthesized to achieve maximum output force. 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 DevicesBiological OrgansDegrees Of Freedom (mechanics)Wearable TechnologyDimensional SynthesisGravity-balancingInertia PropertiesMultiple Degrees Of FreedomSlider-crank MechanismSpherical MechanismsUpper LimbsWearable DevicesIntelligent Mechatronics[SDGs]SDG16conference paper10.1109/AIM.2015.72226142-s2.0-84951098715