The paper presents the mechanical design of the L-EXOS, a new exoskeleton for the human arm. The exoskeleton is a tendon driven wearable haptic interface with 5 dof 4 actuated ones, and is characterized by a workspace very close to the one of the human arm. The design has been optimized to obtain a solution with reduced mass and high stiffness, by employing special mechanical components and carbon fiber structural parts. The devised exoskeleton is very effective for simulating the touch by hand of large objects or the manipulation within the whole workspace of the arm. The main features of the first prototype that has been developed at PERCRO are presented, together with an indication of the achieved and tested performance.

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