In this paper, a 6-DOF wearable upper limb exoskeleton with parallel actuated joints which
perfectly mimics human motions is proposed. The upper limb exoskeleton assists the
movement of physically weak people. Compared with the existing upper limb exoskeletons
which are mostly designed using a serial structure with large movement space but small
stiffness and poor wearable ability, a prototype for motion assistance based on human
anatomy structure has been developed in our design. Moreover, the design adopts balls …