Abstract
Recently, many power-assist robots are studied in various fields. We try to use a power-assist exoskeleton robot to nurse elderly persons and physically handicapped persons. In this paper, we propose a new shoulder mechanism for a 7DOF upper-limb power-assist exoskeleton robot. It is known that human's shoulder rotation center changes according to the movement of upper-limb. This new mechanism corresponds to its change of it without additional actuators and large constructers. The power-assist robot with this mechanism supports daily life of physically weak persons who use a wheelchair.
