This paper reports a preliminary design of a passive
upper limb exoskeleton with 6 degrees of freedom to support
workers in industrial environments in a vast range of repetitive
tasks. Leveraging the detailed analytical model developed in
previous research, the best springs configuration to balance the
system during motion is designed through an efficient optimization routine. The model is validated with commercial software
for specific overhead tasks, and aspects of the proposed balancer
physical implementation are evaluated.
Index Terms—Upper Limb Exoskeleton, Wearable Devices,
Design Optimization, Virtual Prototyping, Gravity balancing
