Development of Rotator Cuff Exoskeleton Upper Limb Disability Support

In addressing the gap in exoskeleton development for individuals with rotator cuff injuries, we have developed a wearable, robust, and safe exoskeleton specifically designed to enhance shoulder mobility. Despite the high prevalence of rotator cuff issues, there is a scarcity of assistive devices tailored to these injuries, leading to diminished quality of life and mobility. Our project aims to fill this void by creating an affordable and accessible exoskeleton. We focused on two main objectives: designing a suitable and wearable mechanism for shoulder support, and performing practical experiments to validate these factors in real-world conditions. To achieve this, we calculated the theoretical torque needed to lift an average human shoulder and used Fusion 360 for 3D printing the design with PLA filament. We calibrated the motor behavior using an upper computer by Cubemars and managed the system through a PI controller with CAN communication protocol. Our results demonstrated that the exoskeleton effectively supports shoulder movements, including abduction, adduction, flexion, and extension, meeting the necessary torque requirements. Although we did not study the battery life of the exoskeleton, our focus was on ensuring the design's wearability and functionality. There were slight differences between the actual and targeted movement of the exoskeleton arm due to some mechanical losses, but the overall design supports critical shoulder movements effectively. This promising solution enhances assistive technology for those suffering from rotator cuff injuries, making it more accessible and practical.