| 摘要 |
The invention relates to an arm exoskeleton (1) for the motorized movement of an arm (2), comprising multiple modules (Mi) and multiple drives (Ai) for moving multiple joints (Gi) of the arm (2), each module (Mi) being equipped with at least one drive (Ai) for moving a joint (Gi) of the arm (2); devices (3) for securing the arm (2); and a controller (4) which is connected to the at least one drive (Ai). According to the invention, each drive (Ai) is made of a stepped motor (7) and a transmission (8); the modules (Mi) are connected together in a movable manner via rods (5); one module (Mi) is made of a shoulder joint module (25) with two shoulder movement drives (26, 27) for moving the shoulder joint (28), said shoulder joint module (25) being connected to a weight compensation device (29); and a device (33) is provided for connecting to a wheelchair (34) for example. |
