EWA: A Single Size Self-adapting Upper Limb Exoskeleton Without Adjustment

The work presents an exoskeleton without adjustment (EWA) for the functionality of the upper limb. The main characteristic of the exoskeleton is the self-adapting between the human and exoskeleton joints to avoid overstress in the human joints furthermore it allows a reduced non-linearity between the motor input angle and the human joint output angle. A dummy with variable length of its body segments was realized inserting a flexible force sensor into its joints. In vitro experiments verified that the exoskeleton does not produce overstress in the joints of the dummy.