The internal human skeleton is referred to as an endoskeleton, while the cuticles of lobsters and crabs are referred to as exoskeletons. Much research has been conducted in attempts to combine endoskeletons and exoskeletons. However, there are very few instances of research being undertaken to create a cyborg. The human endoskeleton consists of kinematic pairs that are joined together with a maximum of three degrees of kinematic freedom. These are a turning pair on a lateral-bending axis, a turning pair on a longitudinal-bending axis, and a turning pair on the central axis of a skeleton. If the strength of the muscles on a human skeleton decline, or if component parts of a human skeleton are lost, then a module-type exoskeleton designed with a maximum of three degrees of kinematic freedom would be able to contain an entire body so that it could assist the functions of the arms, hands, legs, and other body parts to complement the declining or lost physical functions (kinematic or biological). Based on this concept, it is possible to develop an exoskeleton cyborg system that behaves in much the same way that a human does in daily life.

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 This is the final report of Phase I of a three-phase project to develop a powered exoskeleton. This is a powered, jointed, loadbearing structure designed to be worn by man and augment his strength and endurance. While wearing the device, an operator will be able to life up to 1500 pounds as high as 6 feet. He will also be able to carry such a load at least 25 feet in 10 seconds at any height up to 6 feet. Typical applications for the powered exoskeleton will include loading and unloading cargo from vehicle to ground and vice versa, stacking and moving cargo from place to place, and similar associated tasks. The exoskeleton will be designed so that the wearer can walk, bend, turn, etc., with minimum restraint.

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It is asserted that there exists an insufficiently -appreciated need for a simple device that would assist a man in his performance of the most exhausting part of the effort of walking, with a particular reference to carrying load uphill. Outlined are an analysis of the problem, and a possible construction of such a device.

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Investigations Leading to the Design, Fabricatiion and Tests of a Full-Scale Wearable Mockup of an Exoskeletal Structure.

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