Patent ID: 8317730
Filing Date: 2012-11-27
Classification: A61F,A61H

Abstract:
1. A human interface machine comprising: an arm brace having a temporary attachment element adapted to temporarily attach a human arm; the arm brace disposed to move with the human arm while attached and jointed such that an arm joint can move through a first degree of freedom and at least one other degree of freedom; a scapular elevation apparatus that includes a shoulder platform; a shoulder joint pivotally coupled to the scapular elevation apparatus that includes a shoulder force/torque sensor, and a shoulder abduction motor, the shoulder force/torque sensor positioned to measure six degrees of freedom; an upper arm length adjustment affixed to the shoulder joint; an elbow joint affixed to the upper arm length adjustment including an elbow motor and an elbow force/torque sensor; a forearm length adjustment affixed to the elbow joint; a wrist and hand part affixed to the forearm length adjustment including a supination/pronation motor, a wrist flexion/extension motor, a wrist force/torque sensor, a hand opening/closing motor, and a metacarpophalangeal joint torque sensor; the plurality of sensors in operative communication with the arm brace such that at least one sensor senses a first force when an arm joint is driven in a first degree of freedom and such that the same sensor senses a second force when the arm joint is driven in a second degree of freedom; and a processor in operative communication with the plurality of sensors and the plurality of motors, the processor configured to calculate a coupling relationship between a movement in the first degree of freedom and the second force sensed in the second degree of freedom, the processor further configured to drive the arm joint through a first degree of motion.