Patent ID: 7862524

Claim:
A powered exoskeleton encompassing a human arm comprising rigid linkages connected in series by revolute joints with a first linkage securable to a torso of a human body, the exoskeleton further comprises: three-axis rotation of a shoulder rotation assembly by means of three single-axis revolute joints mounted orthogonally to each other with axes that intersect at a point in space coincident with the human glenohumeral joint; translation of the point of intersection of the shoulder rotation assembly with respect to the torso of the human using a scapula elevation assembly comprising a scapula linkage driven by a revolute scapula joint mounted to the first linkage; first revolute joint axis of the shoulder rotation assembly is connected to the scapula linkage and skewed at an acute angle with respect to a vertical line through the point of intersection of the shoulder rotation assembly; and third revolute joint axis of the shoulder rotation assembly connected to an upper arm linkage and skewed with respect to the upper arm of the human.