Upper Body Addendum to Proposal S2-0328

This is an Addendum to previously submitted proposal that includes the addition of a powered upper body portion of an exoskeleton. In this addendum we propose the additional requirements of researching, fabricating and integrating a powered upper body to the previously outlined lower body. These two systems together will comprise the entire exoskeleton proposed by the contractor. Through this proposal we detail the major performance objectives and outline the general approach methodology as well as introduce the concept of developing a new type of rotary actuator to satisfy the particular design requirements for a powered upper body. In addition we introduce a concept of the operator end effector (OEE) that will serve as the interface between the exoskeleton and the environment for the upper body.