The invention discloses an
upper limb exoskeleton storing energy by virtue of a linear spring with an adjustable load, aiming at solving the problem that an existing gravity-balance
exoskeleton cannot be automatically adjusted with regard to different loads. A big arm and a small arm of the
upper limb exoskeleton disclosed by the invention are the same; the big arm comprises a front joint, an upper connection rod of the big arm, a gravity-
balance spring, a first steel
wire rope, a second steel
wire rope, an opposite-force spring, a lower connection rod of the big arm, a motor, a speed
reducer, a slide rail, a lead screw nut, a rear joint, a lead screw, a gravity-
balance spring fixed seat, an opposite-force spring fixed seat, a first
cam, a second
cam, two upper rotary shafts, two lower rotary shafts, two lead screw bearing seats and four bearings; and the big arm and the small arm are sequentially arranged, the rear joint on the big arm is hinged with a front joint on the small arm through an
elbow rotary shaft, and a rear joint on the small arm is hinged with a front joint of a hand through a hand rotary shaft. The
upper limb exoskeleton disclosed by the invention is used for assisting to carry heavy cargoes or helping to carry around some articles, and is capable of balancing the gravity generated due to the weights of the cargoes, and reducing a load on the upper limb of a
human body.