IKerlan’s Orthosis (IKO) is an upper limb exoskeleton oriented to increasing human force during routine activity at the workplace. Therefore, it can be considered as a force-amplification device conceived to work in collaboration with the human arm and implementing biomimetic principles. The aim of the proposed design is to find the best compromise between maximum reachable workspace and minimum moving mass, which are the key factors for obtaining an ergonomic, wearable exoskeleton. It consists of five actuated degree of freedom (DoF) to move the human arm and three non-actuated DoF between the back and shoulder to allow relative displacement of the sterno-clavicular joint. Conventional electrical motors are used for most of the DoF and pneumatic muscles for one of them (forearm rotation). Power transmission is based on Bowden cables. This paper presents the IKO design, the mechanical structure of a first prototype and the redesign process from an aesthetic point of view. Controller set-up and control strategies are also shown, together with dynamic performance from experimental results.

中文翻译：

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IKO：面向工作场所辅助的五驱动自由度上肢外骨骼

IKerlan的矫形器（IKO）是上肢的外骨骼，旨在在工作场所的日常活动中增加人的力量。因此，它可以被认为是一种旨在与人体手臂协同工作并实现仿生原理的增力装置。拟议设计的目的是在最大可到达工作空间和最小移动质量之间找到最佳折衷，这是获得符合人体工程学的可穿戴外骨骼的关键因素。它由五个用于驱动人手臂的致动自由度（DoF）和三个在背部和肩膀之间允许未锁骨锁骨相对移位的非致动自由度组成。传统的电动机用于大多数DoF，而气动肌肉则用于其中的一种（前臂旋转）。动力传输基于Bowden电缆。本文从美学的角度介绍了IKO的设计，第一个原型的机械结构以及重新设计的过程。还显示了控制器的设置和控制策略，以及实验结果的动态性能。