Abstract

A concept of how load imposed by an exoskeleton on the upper arm affects shoulder torque is given using a mechanical mock-up of the shoulder-arm-system and a serial kinematic robot. System identification methods for linear surrogate models of the human shoulder-armsystem and their embeddings in control loops are introduced. Early measurements of a novel, multisensor LiDAR system for real-time motioncapturing of human motion are presented, and its implications discussed.The experimental setup is used for direct shoulder torque readings and control.