Exoskeletal robot arm

摘要

An exoskeletal robot arm (1000) according to the present invention includes a rotatable first holder (10) that is disposed at one position; a first degree of freedom portion (100) of an upper arm that has a first sensor (14) which detects a rotation angle of the first holder (10); a second holder (20) that is connected to the first holder (10) of the first degree of freedom portion (100) of the upper arm; a rotating shaft (28) that is disposed in the second holder (20); a second degree of freedom portion (200) of the upper arm that has a second sensor (24) which detects a rotation angle of the rotating shaft (28) disposed in the second holder (20); a third holder (30) that is disposed to rotate in response with the rotation of the rotating shaft (28) of the second holder (20); an upper arm rotating member (38) that is disposed in the third holder so as to rotate about an axis of rotation in a longitudinal direction of the upper arm of a wearer and has a penetration portion penetrated by the upper arm of the wearer; and a third degree of freedom portion (300) of the upper arm that has a third sensor (34) which detects a rotation angle of the upper arm rotating member.