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Apparatus for human arm supporting exoskeleton

  • US 10,369,690 B2
  • Filed: 10/11/2018
  • Issued: 08/06/2019
  • Est. Priority Date: 05/18/2015
  • Status: Active Grant
First Claim
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1. An arm supporting exoskeleton configured to be coupled to a person, the arm supporting exoskeleton comprising:

  • a shoulder base, configured to be coupled to a trunk of the person and comprising;

    a load bearing structure coupled to an arm link mechanism and configured to support reaction forces and reaction torques on the shoulder base; and

    a coupling mechanism configured to couple the load bearing structure to the trunk of the person such that the shoulder base moves in unison with the trunk of the person;

    the arm link mechanism configured to be coupled to the shoulder base, the arm link mechanism comprising;

    a proximal link; and

    a distal link configured to rotate relative to the proximal link around a first rotational axis;

    an arm-coupler attached to the distal link and configured to couple an upper arm of the person to the distal link;

    a torque generator coupled to the proximal link and the distal link and configured to generate a torque between the proximal link and the distal link; and

    a shoulder bracket that allows for removable coupling of the arm link mechanism to the shoulder base.

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