A Low-Cost Upper Limb Exoskeleton Assistive Device Based on Elbow Torque Feedback

Jiaxin Huang^a^†, Fan Wu^a^†, Baoyi Ding^a, Jiasheng Yin^a, Guang Yang^a, Zhigong Song^a^*

^aJiangsu Provincial Key Laboratory of Food Advanced Manufacturing Equipment Technology, School of Mechanical Engineering, Jiangnan University, Wuxi, China.
^†These authors contributed equally to this work.
^*Corresponding Author

Paper Appendix Data

Abstract

To alleviate upper limb movement impairment in specific groups, reduce the heavy workload of laborers, and assist patients with elbow joint injuries in post-rehabilitation training, we designed a wearable upper limb exoskeleton. A dual-motor system based on elbow torque feedback can realize the smooth rotation and motion assistance of elbow joints by motor driving. To evaluate the performance of the upper limb exoskeleton, we conducted a loaded elbow flexion comparative test while collecting and evaluating electromyographic (EMG) signals. The test demonstrates that the upper limb exoskeleton effectively abates muscle workload. This low-cost upper limb exoskeleton effectively assists movement and enhances upper limb endurance for rehabilitation training or tasks like lifting and carrying. It offers an opportunity to enhance the quality of life for users by aiding in the recovery or improvement of upper limb function.

Figure 1. Structural design of upper limb exoskeleton.

Figure 2. Joint limitations in upper limb exoskeleton with partial details and diagrammatic diagram of human joint freedom.

Figure 3. State diagram at the maximum force arm of the upper limb exoskeleton with finite element analysis of key components and control block diagram of the position mode.

Figure 4. Schematic of the control system for dual-motor torque feedback at the elbow joint of the exoskeleton.

Figure 5. Performance evaluation of the upper limb exoskeleton.

Physical testing of the upper limb exoskeleton

Effect as tested with no drive motor connector assembled (Side view).

Effect as tested without drive motor connector assembled (Front view).

Single-arm loaded elbow flexion test.

Torque feedback test in the horizontal position

There is no floating rubber band.

With a floating rubber band.

BibTeX


        @article{huang2025ule,
        title={A Low-Cost Upper Limb Exoskeleton Assistive Device Based on Elbow Torque Feedback},
        author={Huang, Jiaxin and Wu, Fan and Ding, Baoyi and Yin, Jiasheng and Yang, Guang, and Song, Zhigong},
        booktitle={DYNA},
        year={2025}
        }