Analysis and Preliminary Design of a Passive Upper Limb Exoskeleton - MATLAB code

A folder that contains the Matlab code for the proposed design tool of the paper "Analysis and Preliminary Design of a Passive Upper Limb Exoskeleton" (authors: G. Vazzoler, P. Bilancia, G. Berselli, M. Fontana, A. Frisoli) can be freely downloaded.

A detailed analytical model is developed to support the designer in the preliminary design stage, investigating the exoskeleton kinetic-static behaviour and deriving optimal design parameters for the springs over the human arm workspace. By defining specific functional requirements (i.e., the user’s features and simulated movements), computationally efficient optimization studies may be carried out to determine the optimal coefficients and positions of the springs, thus, maximizing the accuracy of the gravity balancing.