Patent ID: 8801639
Filing Date: 2014-08-12
Classification: A61H

Abstract:
1. A biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of a shoulder and elbow joint, comprising: a first rigid rod and a second rigid rod, the first rigid rod being rotatable connected to the second rigid rod at two adjacent ends by a first universal joint having a first pivoting axis and a second pivoting axis, the first pivoting axis being perpendicular to the second pivoting axis, the first rigid rod and the second rigid rod adapted to be connectable with an upper limb of a patient so that the first universal joint is arranged proximate to an elbow joint of said upper limb; a first fixing element adapted to be rigidly fixed to a forearm of said upper limb substantially between said elbow joint and a wrist joint of said upper limb; wherein said first fixing element is connected to said first rigid rod by a four degrees-of-freedom joint having three rotary degrees-of-freedom and one translational degree of freedom, said four degrees-of-freedom joint comprising a first spherical joint arranged at an end of said first rigid rod opposite said first universal joint, and wherein said first fixing element is translatable with respect to said first spherical joint along a first direction of translational motion; a second fixing element adapted to be rigidly fixed to an arm of said upper limb, wherein said second fixing element is connected to said second rigid rod by a four degrees-of-freedom joint having three rotary degrees-of-freedom and one translation degree-of-freedom in a second direction of translational motion; wherein when said first fixing element is rigidly fixed to said forearm and said second fixing element is rigidly fixed to said arm: