Table 1.
Current passive shoulder exoskeletons
| Name | Total weight (kg) | Assistive torque (Nm) | Torque generator position |
|---|---|---|---|
| ShoulderX (Van Engelhoven et al., 2019) | 3.17 | 10 | Attached to human arms |
| MATE (Pacifico et al., 2020) | 3.5 | 5.5 | |
| Airframe (Spada et al., 2017) | 2.7 | NA | |
| EksoVest (Kim and Nussbaum, 2019) | 4.3 | 13 | |
| H-VEX (Hyun et al., 2019) | 2.5 | 10 | |
| H-PULSE (Grazi et al., 2020) | 5 | 5.5 | |
| Skelex (de Vries et al., 2019) | 2.5 | 6.1 | On support links, moved by human arms |
| Paexo (Maurice et al., 2019a | 1.9 | NA | |
| SE by Rossini et al. (2021) | 3.8 | 3 | Cable transmission mechanism moved by human arms |
| Proposed SE | 3.2 | 10 | Fixed on human back |