A Semi-active Upper-Body Exoskeleton for Motion Assistance

Shaoping Bai*, Muhammad R. Islam, Karl Hansen, Jacob Nørgaard, Chin Yin Chen, Guilin Yang

*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceedingBook chapterResearchpeer-review

2 Citations (Scopus)


This paper describes a semi-active assistive exoskeleton for upper-body motion assistance. The exoskeleton combines a passive shoulder exoskeleton and an active elbow joint unit, which can achieve both passive gravity compensation and also active assistance to carrying and sit-to-stand motion. The design, sensing and control are introduced, with preliminary test results performed.

Original languageEnglish
Title of host publicationBiosystems and Biorobotics: Challenges and Trends : Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
Number of pages5
Publication date2022
ISBN (Print) 978-3-030-69546-0
ISBN (Electronic) 978-3-030-69547-7
Publication statusPublished - 2022
SeriesBiosystems and Biorobotics

Bibliographical note

Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.


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