Patent ID: 7618381

Claim:
An upper extremity attachment, comprising: a shoulder-elbow motion device, comprising: a member assembly comprising a moveable member having at least one degree of freedom and a distal free end; a drive system coupled to the moveable member to drive the moveable member, the drive system comprising at least one motor; and a wrist attachment coupled with at least one degree of freedom to the distal free end of the shoulder-elbow motion device and comprising: a forearm support, so sized and shaped as to be able to receive a forearm of a subject, the forearm support defining a long axis; a handle so positioned in relation to the forearm support and so sized and shaped as to be able to receive a hand; and a transmission system actuating rotation of the handle with at least three degrees of freedom with respect to the forearm support and comprising a pronation/supination (PS) motor coupled to a PS slide ring, the slide ring being rotatable about a PS axis and in a plane perpendicular to the forearm support long axis.