Development and evaluation of robotic exoskeleton arm for enhanced human load carrying efficiency

Abstract

In recent years, there has been a significant amount of research dedicated to the development of robotic exoskeleton systems. These technologies have been widely explored for their potential in virtual reality, human power enhancement, robotic rehabilitation, human power assist, and haptic interface applications. This research focuses on creating an exoskeleton arm that can assist individuals in carrying heavy objects. The exoskeleton arm is initially designed using Fusion 360, with the identification and calculation of important components such as the exoskeleton structure, motors serving as joints, an electromyography (EMG) sensor, and an Arduino UNO microcontroller. The research involves various aspects of mechanical design, electronic components, and programming. The effectiveness of the developed exoskeleton arm is then tested through experiments involving several individuals lifting a 2.5 kg and 5.0 kg load. The results of the experiments demonstrate that the force generated by the muscles is reduced when using the exoskeleton arm, compared to using a supporting system. Individuals' performance dropped by 36.06% to 50.44% when using an exoskeleton to lift 2.5 kg. This emphasises its effect on muscle activation and efficiency following physical activity. A 10.14% to 23.25% decline in a 5.0 kg lift shows nuanced impacts, emphasising the need for personalised modifications.