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Power-assisted upper-limb exoskeletons are primarily used to improve the handling efficiency and load capacity. However, kinematic mismatch between the kinematics and biological joints is a major problem in most existing exoskeletons, because it reduces the boosting effect and causes pain and long-term joint damage in humans. In this study, a shoulder augmentation exoskeleton was designed based on a parallel mechanism that solves the shoulder dislocation problem using the upper arm as a passive limb. Consequently, the human–machine synergy and wearability of the exoskeleton system were improved without increasing the volume and weight of the system. A parallel mechanism was used as the structural body of the shoulder joint exoskeleton, and its workspace, dexterity, and stiffness were analyzed. Additionally, an ergonomic model was developed using the principle of virtual work, and a case analysis was performed considering the lifting of heavy objects. The results show that the upper arm reduces the driving force requirement in coordinated motion, enhances the load capacity of the system, and achieves excellent assistance.

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