Patent ID: 8641782
Filing Date: 2014-02-04
Classification: A61H,B25J,Y10T

Abstract:
1. A compact exoskeleton arm support device to compensate for gravity and to support an arm using a plurality of members, the plurality of members comprising: a first rotating joint enabling the entire arm to rotate in a yaw direction; a second rotating joint enabling a forearm of the arm to rotate in the yaw direction; a third rotating joint enabling the forearm of the arm to rotate in a pitch direction; a first translating joint enabling the forearm of the arm to translate in a gravity direction; and a second translating joint arranged between the first rotating joint and second rotating joint, and enabling the second rotating joint to translate, wherein the first rotating joint, the second rotating joint, and the second translating joint are manually driven by user force, and the third rotating joint and the first translating joint are driven by actuators.