Patent ID: 11911330
Assignee: BOARD OF REGENTS, THE UNIVERSITY OF TEXAS SYSTEM
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 5:
6. A robotic exoskeleton comprising:
first and second shoulder portions, each of the first and second shoulder portions providing at least four degrees of freedom;
two elbow portions, each elbow portion providing at least one degree of freedom; and
two forearm portions, each forearm portion providing at least one degree of freedom;
wherein the first shoulder portion includes:
a first joint with a first axis of rotation configured to be oriented towards a center of a human shoulder joint;
a second joint, coupled to the first joint, with a second axis of rotation configured to be oriented towards the center of the human shoulder joint;
a third joint, coupled to the second joint, with a third axis of rotation configured to be oriented towards the center of the human shoulder joint;
a fourth joint, coupled to the third joint, with a fourth axis of rotation to provide a degree of freedom of the at least four degrees of freedom of the first shoulder portion to the robotic exoskeleton; and
a fifth joint with a fifth axis of rotation to provide another degree of freedom of the at least four degrees of freedom of the first shoulder portion to the robotic exoskeleton;

wherein: (a) the second axis of rotation is configured to be oriented between 55° and 75° from the first axis of rotation; and (b) the third axis of rotation is configured to be oriented between 55° and 75° from the second axis of rotation and configured to be oriented between 50° and 80° from the first axis of rotation.