Rear Shoulder Axis

This page is about building one axis for my ExoSuit, you can check out the main project index for the rest.

There are some YouTube videos about this section, scroll down for pictures and words.


This assembly mounts behind the wearer, to move the arm around a vertical axis. I’ve used the same gearbox design with the addition of a motor/belt tensioner – but this time the blocks and takles pull cord around some extra pulleys to reduce the width of the mechanism.

As before, the gears and pulleys are 3D printed in Taulman Alloy 910 and the gearbox housing is ABS. The rest is wood and off the shelf steel brackets. This is fairly heavy now so I’ll be considering the floor mounting – check out the video above for more discussion on that.