35th Convencion de Estudiantes de Centroamerica y Panama, Guatemala 2016
Static Forces Analysis focused in the Upper
Extremity Exoskeleton of 4 DOFs Design.
J. F. Vera, Member, IEEE, I. Herrera, and G. A. Rodrguez.
Abstract About the upper extremity exoskeleton (UEE)
designs, they exist many approaches as many applications and
morphologies that the UEE has, that reason we made a review of
the most used techniques for an UEE. So we intend to propose a
methodology of design based in a geometrical and static analysis
of the upper extremity (UE), according with the models presented
by Barny Le Veau, and that way make registry about a useful
UEE design, according with the natural movement and charges
of the UE followed the geometrical forms that it generates to find
the resultant vectors, to describe the movement and force
transition. All calculations are presented in units of the SI.
Index TermsUpper Extremity (UE), Upper Extremity
Exoskeleton (UEE), Static Analysis, Force, Segment.
T
I. INTRODUCTION
HEY exist a different ways to classified the UEE, from [1]
the classification is over the applications of the UEE and
form [2] the UEE was classified about their morphology, as
end effector with static bank or a movable UEE mounted in
the user body. In this paper as bounding tool we proposed an
auxiliary classification based in the papers [1] and [2] as show
in the diagram of the Fig. 1.
We review some UEE and the methodological analysis that
was implemented in each design. From capture motion
analysis, bone constitution, until the analysis by
biomechanical segments.
From [3], the design of the RUPERT, an UEE of 7 DOFs,
was elaborated from a data base with the analysis of ADL
(Activities of Daily Living) recorded with a capture motion
system. The analysis was useful to determine the axis of each
DOF of the UEE. The 7 DOFs are distributed this way, 3 in
the Shoulder articulation, 1 in the elbow and 3 in the wrist.
There exist a discuss respect to the supination-pronation move
Date June 27th sent to review. This work was supported in the master
electronic engineer program, at the Orizaba Technologic Institute. The
presented work is a part of a thesis work to design an upper extremity
exoskeleton with 4 DOFs.
J. F. Vera Centeno 93909873. Is intern by CONACYT in the master
electronical engineer program of the Orizaba Institute Technologic code
30MSU0020X. (e-mail: V.C.JorgeFernando@ieee.org).
I. H. Aguilar, is Ph. D. professor in the Orizaba Institute Technologic.
Chief of the processing signals laboratory on the MIE program. (e-mail:
nacho.tecorizaba@gmail.com).
G. A. Rodrguez, is Ph. D. professor in the Orizaba Institute Technologic.
Chief of the sensors laboratory on the MIE program. (e-mail:
gerardo_aguila03@yahoo.com.mx).
1
of the forearm, because that movement is register between the
elbow and the wrist and the effect is in the position of the
wrist. So the methodology that was employed is the capture
motion analysis.
Fig. 1. Proposed auxiliary Classification isolating the Exoskeleton, the
applications and the morphology.
In [4] the analysis was over the bone structure, to design an
UEE over the shoulder, they started the analysis in the
Glenohumeral articulation GH, this structure is the connection
point of the scapular waist and the arm bone head or humerus
head, the mechanical form is a spherical pair, that means that
it has 3 revolution axes. Each DOF in the analysis was ranked
and tabulated, the data provide information about the way how
the shoulder move the arm trough the musculoskeletal tissue.
The mechanism obtained was designed in imitation of the
bone structure. Another UEE know is the MAHI [5] that uses
the same analysis that [4] but the MAHI was designed to be a
Haptic system and in the construction was necessary know the
torque forces generated in each movement to determine the
effect of the actuators in the UEE and haptic sensation.
In [6] we found another methodology uses a biomechanical
model that was proposed in 1964 by Hanavan in her research
A Mathematical Model of the Human Body [7]. In this last
one he modeled the human body using segments like a chain
and the articulations were the points of connection that the
segments. The full body was 15 segments represented by
geometrical solids as basic forms and the characteristics like
weight and size depends directly of the real studied body.
Finally, in [8] the author David A. Winter presents a
complete biomechanical analysis watching and registering all
movements with capture motion systems help, recording EMG
signals, and recording repetitive movements to get a complex
behavior scheme and that way modeling the movement in a
 35th Convencion de Estudiantes de Centroamerica y Panama, Guatemala 2016
Fig. 2. Methodology proposed to calculate the resultant forces in the GH
articulation as help to design an UEE.
full biomechanical context.
II. OBJECTIVES
The main objective in the paper is to describe the
methodology to obtain the force vector resultant in a shoulder
and the elbow for an UE, the methodology is based in the
algorithms of Barney Le Veau [9] and the biomechanical
model proposed by Hanavan [7]. We hope uses that
information as an auxiliary tool to design an UEE, for first we
going to review the different approaches or methodologies to
design an UEE that are useful in different projects; and taking
few arguments of those we going to elaborate the
methodology that describe the resultant forces in the UE and
the vector to describe they.
The final objective of the research is uses the data to select
the morphology of an UEE that can supported the forces in a
model of end effector. About the morphology we pretend
create a model with a natural movement not only related with
the movement of the UE also that can provide a natural
behavioral at the moment to get a static position and supported
all the natural forces generated in the UE.
III. METHODOLOGY
The methodology that we proposed is based in the
biomechanical model showed in Hanavans work [7], and the
equations presented by Barney Le Veau [9]. For first we need
to identifier the segments in the UE, they are two, one for the
arm and another one for the fore arm, these segments are
divided as [7] and the union of both is the elbow articulation
and the union with the body is the glenohumeral (GH)
articulation, then we must to isolate the musculoskeletal tissue
of the bone structure, the musculoskeletal tissue is represented
with charges or forces over the bone all the diagram of the
methodology is showed in the Fig. 2. So the proposal is
calculating the resultant force in the GH articulation and
gather the necessary data with the final propose to design an
UEE mechanism that can provide the ideal support for the
user.
The main part of the methodology is the calculation of the
resultants and get the resultant in one segment to translate to
another one segment. All the calculation consists in a static
analysis using the method to calculate rotational forces and
static forces over the UE in a proposed position using the
static tool like force adding and moments adding.
2
IV. DEVELOPMENT
To start we dividing the UE in two segments the first one is
the arm and the next is the forearm, nevertheless the analysis
begin in the forearm because we want to know the force in the
shoulder. So to know the force in the shoulder we need get all
the forces in the segment of the arm but exist a force in the
articulation of the elbow that is unknown is for that reason that
we need to start the analysis in the forearm. Another consider
point is the rotation axis and planes of the analysis, we know
that the hummer head is generates a spherical articulation in
the GH articulation with 3 DOFs but the elbow only has 1
DOF and this DOF move through the planes, it depends on the
shoulder angles. The anatomical planes are frontal, axial and
sagittal, so in an anatomic position the UE with all the angles
equal to zero and the elbow articulation is in the sagittal plane,
so the analysis is completed based in the sagittal plane.
The example developed is as show the Fig. 3, we can
appreciate the position of the UE totally immerse in the
sagittal plane, there no exist a rotation angle in the other
planes (frontal and axial) only we have the angle for the
arm and for the forearm. As an observation in the sagittal
plane and the analysis of the angle generated for the rotation in
the elbow the arm and the forearm will always be in the same
plane or auxiliary plane, in the example the angles and
are in the same plane that correspondence exist in all
movements of the UE.
Fig. 3. In this image we are representing the musculoskeletal tissue with
force vectors and the bone structure as the mechanical structure of a
rotational force system.
To start with the analysis, we must to understand the UE
behavior and the components that we need to know, in the
forearm and the arm exist a vector called that is the weight
of the forearm this vector is parallel to the gravity and
perpendicular to the floor is not the same vector for both
segments, each one has its own vector with the weight value
multiplied with the gravity value. So now we select the first
segment to analyze, the forearm, we look that exist an angle
that is not the final angle position but is the angle generated
from the extended lines of the arm segment and the segment of
the forearm. The angle affects the vector and all the
force vectors in the segment.
 35th Convencion de Estudiantes de Centroamerica y Panama, Guatemala 2016 3

The biceps and the triceps are antagonism muscles, while

= (6)
one is contracted the other one is relax. They both have the 2
function to hold the forearm in a desirable position, and they The equation (6) is important to know the component
are represented by the vectors and . While is close to and the negative signal means that the resultant force is
90 the action of is near to be null cause in 90 the full clockwise opposite. We want to know the resultant force in the
charge depends only on . Beyond 90 for all the action is elbow articulation and we have two choices, the easier is get
over , so the force is approximately the force that take the know and to do an adding forces as follow:
us to make the next conclusion: = , and we can work
= 0;
with the force as unknown force. For the analysis the
segment analyzes like a lever not like a beam and we use the = + = 0 (7)
next tools: = 0 y = 0, force adding and momentum
adding, and always is useful draw a free body diagram. From (7) we can clear the resultant and we expressed this
like shows (8).
= (8)
The other way to get is using a momentum adding again
as show (9).
= 0;

= + = 0 (9)
2
The equation (9) is taken like a momentum adding from the
biceps insertion, that way we can related the fulcrum in the
static position. Clearing (9) we have the expression presented
in (10).
( )
= (10)
2
Now we have the resultant forces in the " " components,
Fig. 4. Free body diagram for the segment of the forearm with the force but we still need the " " component of because this is the
vectors and . resultant force in the elbow articulation and we must translate
Beginning with the forearm we draw the free body diagram it to the arm segment. So for the next part we need to know
as show in the Fig. 4. And from the diagram calculate the and , the first one is known but the second one we can
forces; so much as they have component forces, for this calculating as well show us the expressions taken form (1) and
we look the segment as an inclined plane. All the forces (2).
perpendicular to the plane are components and the forces = (1.1)
parallel to the plane are components. The components of sin
and depends of the angle as can see in (1) and (2).
= (2.1)
= cos( ) (1) cos
= sin( ) (2)
Also to So if we make equal (1.1) and (2.1) we have the next
= cos( ) (3) relationship in (11).
= sin( ) (4)
= (11)
Like a lever the segment has fulcrum and there exist cos sin
reaction forces to they will be called with the letter and the
Clearing we have the equation expressed by (12).
auxiliary diagram is showed in the Fig. 4. To know the B force
is necessary use the next mathematical model in (5).
cos 2
= 0; = (12)
sin 2
= + 2 = 0 (5) With these data we can create another model using a force
When and are the distance from fulcrum to the biceps adding in the axis of the components as follow:
insertion and the size of the segment respectively. So as
and are knows and also are measurable and we know the = + + = 0 (13)
value using (4) only we need clear from (5).
 35th Convencion de Estudiantes de Centroamerica y Panama, Guatemala 2016
From (13) we can get the component and finally get the
resultant force for this segment using a simple Pythagoras
triangle.
= + (14)
In (14) we get the magnitude of the force in the elbow
articulation, is called because the fulcrum in a lever system
so this vector has to an inclination angle , and this angle is
measured from the inclined plane of the first segment to the
vector magnitude as show (15).
= tan (15)
To translate the resultant to the next segment we need to
make an adequacy to the angle of the vector calling the new
angle in the arm segment . So then:
= (16)
And now we have a real resultant that can use in the
segment of the arm. For the segment of the arm the
methodology is the same and with the data obtained we can
model the arm segment. We need to get the size and the
weight of the arm segment and based the angle obtain the
and components for the new segment, as well we did
with the last one segment the components are with sin for
the component and with cos for the component. The
methodology for this position is repetitive in the two segments
and the GH reaction depends on finding the components and
in the shoulder or GH articulation on shape when the
angle is taken from the expression (17).
= (17)
The angle is the angle obtained from the Pythagoras
triangle using the reaction components in the shoulder, as the
arm is in another position the resultant force is translate for the
anatomical position when doesnt exist a significate effort
from the scapular waist. Grades of the motion resultant force.
Fig. 5. Resultant Force in the elbow articulation measured in Newton , the
graphic shows the increments of the force as the angle is near to 90.
4
V. CONCLUSION
We can observer the incremental force in the elbow
articulation, the maximum effort position is at 90 cause the
effort in the muscle is totally focuses in keep the charge the
Fig. 5. Shoe the data collected of the resultant force in the
elbow from a 0 position to 90 position. The measured effect
is in the forearm with the segment of the arm in anatomical
position. We can have observed a behavior in the biceps that
the effect is parallel to the homerun. For that reason, the force
in the biceps is gradual relating to the arm position but in the
GH articulation we observe the increment but is not constant
the Fig. 6. The effect of that change is caused by the forced
analysis to put the same angle to both segments.
Fig. 6. Resultant Force in the GH articulation measured in Newton , the
graphic shows the increments of the force as the angle is near to 90. In this
graphic both segments are started the motion in the position 0 and ends in
90.
We conclude that the forces can be supported by a UEE
mechanism that take the resultant vector on the mechanism
and translate they thought all the mechanical structure to the
support in the back of the user. The forces of the arm and
forearm are natural forces for the human UE and a good
design of an UEE must to support they and be able to generate
a similar sensation effect.
REFERENCES
[1] J.-V. L. Y.-D. C. a. Y.-Z. C. Kwok-Hong Chay, Upper
extremity robotics exoeskeleton: Application, Structure
and Actuation, International journal of Biomedical
Engineering and Science (IJBES) , vol. 1, n 1, pp. 35-45,
2014.
[2] R. A. R. C. Gopura, A brief review on upper extremity
robotic exoskeleton systems, de 2011 6th International
Conference on Industrial and Information Systems, ICIIS
2011, Aug. 16-19, 2011, Sri Lanka, Sri Lanka, 2011.
[3] N. a. D. ,. C. S.Kousidou, Assistive Exoskeleton for Task
Based Physiotherapy in 3-Dimensional Space, University
of Salford Manchester , Manchester , 2003.
 35th Convencion de Estudiantes de Centroamerica y Panama, Guatemala 2016 5

[4] M. S. Liszka, MECHANICAL DESIGN OF A ROBOT

ARM EXOSKELETON FOR SHOULDER
REHABILITATION, Faculty of the Graduate School of
the University of Maryland, Maryland, 2006.
[5] S. S. Kommu, Robotic Exoskeletons for Upper Extremity
Rehabilitation, de Rehabilitation Robotics, Texas, Itech
Education and Publishing, Vienna, Austria, 2007, pp. 371-
396.
[6] N. C. J. G. y. M. A. D. Tibaduiza, DISEO DE UN
EXOESQUELETO MECATRNICO DE BRAZO
BASADO EN SCREWS Y ROBOTS PARALELOS,
CIIMECA, vol. 1, n 1, 2009.
[7] J. E. P. Hanavan, A MATHEMATICAL MODEL OF
THE HUMAN BODY, AIR FORCE AEROSPACE
MEDICAL RESEARCH LAB WRIGHT-PATTERSON
AFB OH, 1964.
[8] D. A. Winter, Biomechanics and Motor Control of Human
Movement, John Wiley & Sons, Inc, 2009.
[9] B. L. Veau, Biomecnica del movimiento humano, Trillas,
2001.

V. C. Jorge Fernando. (M16

93909873) born on December 15, 1987.
Graduated in Mechatronic engineer from
the Mexican National Technologic system
by Tehuacn Technologic Institute. He
has participated in several research
projects. His interest areas are
biomechanics, robotics and mechatronics
systems. Is working in an upper extremity
exoskeleton to rehabilitation.

H. A. Ignacio. Is professor in the master

program in electrical engineer MIE at the
Orizaba Technological Institute. He has a
Ph. D. in robotics control and the
signatures in the program are focused to
the robotic implementation. About her
skills they are robotics, mechatronics,
Computer vision, Virtual reality, Control
and instrumentation.

A.R. Gerardo. Is professor in the master

program in electrical engineer MIE at the
Orizaba Technological Institute. He has a
Ph. D. in semiconductor physics and the
signatures in the program are focused to
the sensors implementation. About her
skills they are semiconductors physics,
sensors, physical variables, chemical
variables, Control and instrumentation.