Upper-Limb Lifting-Load Assistive Exoskeleton

Abstract

An exoskeleton (from Greek, (x) outer and (skeletos) skeleton) is the external skeleton that supports and empowers human body, A powered exoskeleton (also known powered armor, exocrine,hard-suit or Exosuit) is a wearable mobile machine that is powered by a system of motors, pneumatics,levers or hydraulics that allow for limbs movement, increased strength and endurance [1]. Many people suffer from the difficulty of movement in the lower limb of the body for several reasons, like Cerebrovascular accident (CVA) an effect on the entire part of the body. Including the limbs upper or lower and prevent movement in the injured limb. The second, reason it is Muscular dystrophy, patient is not able to move any limbs, as normal. Other reason is presence of cut in the part of the nerve that transmits orders. Therefore, do not reach orders the muscles completely. As the number of infections by the Palestinian Ministry of Health (2000-2014) [2], the number of injured has reached 1229 cases. In the lower limbs is 34% from all injuries. In Hebron, there are approximately 30 cases monthly of CVA injuries. This forms the medical eld applications of Exoskeleton. The Exoskeleton being more and more important in military field also, the soldiers carry heavy battle equipment, and that impedes moving and running easily, the Exoskeleton is being a trump card in battle, which capable the soldiers to be more functional on war when they carry heavy load. In general, the Exoskeleton is used in assistive eld in daily activities such as walking, working, playing, going up stairs etc, and to make the human life more simple and functional. 2 To control the Exoskeleton movement, we depend on neuromuscular cycle. The brain sends the neurological signal to spinal cord which controls the human limbs then the spinal cord send orders to muscles to exion and extension. The muscle sensor sense this ex- ionextension movement and transmit it to microcontroller. The signal is processed and sent to the motors, Which works to move the limbs connected with the device to make its movement closer to the natural, and that helps the human to move and do everyday functions.