Design of a perfect balance system for active upper-extremity exoskeletons

Passive gravity compensation in exoskeletons significantly reduces the amount of torque and energy needed from the actuators. So far, no design has been able to achieve perfect balance without compromising the exoskeleton characteristics. Here we propose a novel design that integrates an existing statically-balanced mechanism with two springs and four degrees of freedom into a general-purpose exoskeleton design, that can support any percentage of the combined weight of exoskeleton and arm. As it allows for three rotational degrees of freedom at the shoulder and one at the elbow, it does not compromise exoskeleton characteristics and can be powered with any choice of passive or active actuation method. For instance, with this design a perfectly balanced exoskeleton design with inherently safe, passive actuators on each joint axis becomes possible. The potential reduction in required actuator torque, power and weight, simplification of control, improved dynamic performance, and increased safety margin, all while maintaining perfect balance, are the major advantages of the design, but the integrated systems does add a significant amount of complexity. Future integration in an actual exoskeleton should prove if this tradeoff is beneficial.