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. In recent years, exoskeletons are increasingly spreadinginto the industrial manufacturing sector to improve productivity and toreduce the incidence of work-related musculoskeletal diseases. The aim ofthis paper is to present a 2 degrees of freedom (DoF) passive upper-limbexoskeleton, consisting of two McKibben pneumatic artificial muscles (PAMs),and used for assisting workers during activities that require them to keeptheir hands in a sustained position over the head for a long time. Simulations are performed to test two different commercial PAMs and twodifferent designs of the transmission system used to convey the tractionforce exerted by the pneumatic muscles to the limb; then the results arediscussed. A preliminary assembly of the exoskeleton is also presented. Thestudy confirms that PAMs can be used to realize a passive upper-limbexoskeleton for industrial application and that appropriate working spacecan be obtained with an accurate design of the transmission system.

A passive upper-limb exoskeleton for industrial application based on pneumatic artificial muscles