UPPER-LIMB EXOSKELETON WITH A TILTED AND VERTICALLY TRANSLATING SHOULDER JOINT

摘要

The purpose of the present invention is to provide an upper limb exoskeleton structure which can ensure natural movements through an upper limb exoskeleton and can safely operate by solving a singularity problem. To achieve the above purpose, a controlling method for the upper limb exoskeleton structure can move up and down a shoulder joint of the upper limb exoskeleton structure and can tilt the shoulder joint in order to position the singularity shown on the exoskeleton outside the movement range of the upper limb.