Manipulator has joint section with rotary single joint or chain of single joints with rotational axes

摘要

The manipulator has at least one joint section joining at least two joints by means of a rotary single joint or a kinematic chain of several rotary single joints. The position of rotational axes is matched with the bio-mechanical function inside a human joint part in the shoulder and or arm and or hand. In a reference position the geometry and position of the rotational axes of the joints correspond to the single joints of each joint section, and correspond to the position of the rotational axes of a human joint section in the shoulder and or arm and or hand in the reference position.