Development of a Robotic Exoskeleton Model Operated via Arduino for Mechanical Actuation

Abstract

In this paper, we present the design, development, and initial testing of a prototype exoskeleton model created for augmenting human strength and mobility, specifically for upper-body weightlifting applications. This model, crafted to fit a small articulated doll (approximately 11.9% the size of an average human), using a PLA-constructed frame, an Arduino control system, and a rope-pulley mechanism for movement, this design represents a practical approach to wearable assistive robotics. While primarily a proof-of-concept, the project aims to explore foundational principles of wearable robotics and mechanical augmentation in a simplified manner. The proposed exoskeleton can be served as a robotic tool in demonstrating the interaction between mechanical design and control systems. The exoskeleton design also contributes to the field of wearable robotics by addressing the specific needs of weightlifters, offering a practical and functional solution to enhance strength, reduce fatigue, and minimize the risk of musculoskeletal injuries during weightlifting exercises. Preliminary results discuss feasibility and working efficiency of this model while providing insights into potential applications and improvements in larger-scale wearable robotics. The exoskeleton’s performance was assessed for vertical holding and lifting tasks, identifying challenges in torque, friction, and material choice, which inform future improvements in exoskeleton technology.