Exoskeleton for a human arm, especially for spatial applications

摘要

The exoskeleton (EXB) includes a kinematic chain of parallel pivots on the pivoting of the human arm (Bd). It comprises a shoulder exoskeleton (3), a curved exoskeleton (2), and a hand exoskeleton (1). The main exoskeleton has six degrees of freedom. There is a support (4) carried by the thorax (TH) of the human operator (U), having a rigid front plate (40) and a rear rigid plate (41). The shoulder exoskeleton is fixed in its proximal extremity to the front plate, this forming a fixed reference for all movement of the exoskeleton, and the exoskeleton of the hand is fixed to a rigid glove (5) on the hand of the operator. The active flexing areas are controlled by flexible tendons of cables along the exoskeleton, these activated by control units disposed on the rear rigid plate.