EXOSQUELETTE FOR HUMAN ARM, IN PARTICULAR FOR SPACE APPLICATIONS

A exoskeleton for a human arm.

The invention is more particularly, although not exclusively, in the spatial technologies.

It is first useful to recall the meaning of the term "exoskeleton", more particularly as used in the invention.

"Exoskeletons" is a term used originally in the field of biology to designate the outer supporting structure of an animal. For example, arthropods have a outer exoskeleton chitin instead of a skeleton inside. Recently, the term has also been associated with structural devices for attachment around members of people.

More recently still, a new class of devices has been added to the family exoskeletons: it is mechanisms used, for example, to increase the performance of human execution, in robotics or in interactions virtual reality. Other uses of these mechanisms will be detailed below.

To fix the ideas, is will be effected in the following in the preferred application of the invention, in other words the spatial application technologies. More specifically further, consider is the case of the remote control of a humanoid robot type working outside of a space station, for example the International space station. It can be, in this framework, the robot called " [...]" which is expected to provide a very precise average and skillfully intervention for inspection, maintenance and repair of the equipment in highly hostile environment of the space. The robot has three arms kinematically similar to the human arm (i.e. with seven degrees of freedom). During the major portion of the time, the robot is programmed to perform predetermined tasks, but in some cases the robot needs to be controlled:

-either by astronauts within the space station, or

-either directly by operators remaining on earth.

In both cases, the need for very precise manipulations has imposed the use of immersion techniques. To this end, the operator carries video glasses, gloves and a force feedback or exoskeleton (s) to experience sensations arm of the robot, i.e. those that would be experienced if it had performed the tasks performed by the robot.

Exoskeleton The need to create a compatible with operators or astronauts is not without constraints. Here it is necessary to perform a light system (typically less than 5 kg), compact and easy to carry.

The exoskeletons of the prior art generally suffer from various disadvantages and/or deficiencies, such as the following:

-Untreatable feel all movements of the human arm and forces and torques feedback, without limiting the normal range of human motion arm. It is also necessary to obtain information on the position of the shoulder, elbow and wrist.

-Difficulty produce a system actually "portable", which means that the movements of the operator should not be limited in use (rotation around an object, lean, walk, etc).

-Application limited, which, for example, does not use the same exoskeleton, without substantial modification, for a high percentage of the male population, typically in a range covering 5% to 95%.

More specifically, the human exoskeletons arm must overcome a main problem, in other words the mimicking of the kinematic joints complex human shoulder, elbow and wrist. The difficulty in the simulated results from the fact that these joints are closely wrapped, with their rotational axes moving with the changing posture of the arm. Exoskeletons The according to the state of the art, are endeavoured approach the problem of the shoulder through the implementation of a mechanism which rests on top rear of the human shoulder. Imperfections of this approach can be found within the footprint and the mass of the mechanism. This weighs of also on the arm. For the wrist, massive solutions also have been used.

In general, there is also that, in the exoskeleton known, the complex kinematic joints of the human arm are simplified and-like joints to a single degree of freedom, hereinafter referred to as "DOF" (for "Degree Of Freedom", according to the terminology commonly used Anglo-Saxon) for the purpose of simplification of the description. The disadvantage of this solution is that the normal movement of the arms, called the "master" (that imposes the actions) is disturbed and a feeling of comfort, during operation of the arms, called the "slave" (force feedback) is not possible.

Without whether exhaustive, is can now briefly describing some known solutions and show their boundaries.

U.S. Patent US 4,575 297 The A (Hans Richter) described a robot having a chest plate, arm an upper limb, a lower limb of arms having finger units and in which the human limbs are inserted. A human operator, to which such robot limbs are attached, sits on a support structure such as a mobile chair. Members robot, their lengths, the joints between the members and the common axes correspond to those of the human operator. Each joint sensor device is associated with a hydraulic motor. Robotic The shoulder portion is limited to movement about two axes. Another axis permits flexing or extension of elbow. A axis parallel to the axis of the forearm allows rotation of the forearm. On the wrist, a swivel connection, which is parallel to the articulated joint of the elbow, provides the means of a wrist human motion.

Exoskeleton The mechanism taught by the aforementioned Patent the kinematics normal copy of a human arm. Each joint actuated is controlled by hydraulic cylinders, which are directly mounted adjacent joints. The range of motion permitted is relatively limited. In particular, without repercussions movement is not possible.

U.S. Patent US 5,967580 The A (Mark E. [...] ) is related to a pair of links connected and force generating means for their use in slave robotic systems. The patent is related to a mechanical manipulator anthropomorphic, providing some of the capabilities of a human chest and of the possibilities of movement similar to that of the chest, shoulder, arm, wrist and hand of a human. Again, the kinematic system of the robot described in the aforementioned patent resembles the kinematic structure of a human arm. As a result, it is desired to provide a mechanical manipulator resembling the human thorax upper and arm, and may be provided with possibility of movement substantially equivalent to those of the chest and the human upper arm. A mechanical structure that provides the means for engaging the hands of an operator.

A mechanism anvil exoskeleton can be used as to control the slave robot, but is not optimized for such use as such. The can provide data from tactile force feedback only to the portion of the exoskeleton equivalent to the hand. Both mechanisms are equivalent to the upper structure member in terms of human kinematic (parameters of the members and joints). Each axis of rotation is directly controlled by the linear motors to direct current. Only a very limited range of normal human movements of arm may be covered with the exoskeleton mechanism described. As described above, the force feedback is only possible on the human hand, a feature being the main object of this patent.

U.S. Patent US 6,301526 The A (Sang Kim and Mun al.) describes essentially a device having a function of feedback force and which is mounted on a human arm. This may return feedback of delivery limit operation by using the engine brakes. The main device is a daisy chain, serial type, fixed on the back of an operator. Second and third combining means are secured above and below the bend, as well as a fourth combining means is fixed on the rear part of the hand. Exoskeleton Seven axes have electrical brake units to generate torques. Position determination units, and units for amplifying the coupled, are associated with the actuator units.

The base of the kinematic chain is fastened on the back of the operator and low on the chest. Movement exoskeleton can only be influenced by electric brakes passive, that may only be used to mitigate the normal movements of the human arm.

The international patent application WO 95/32842 Α2 (AN, Bin) provides a system that has the same degree of freedom that the human arm, and thus must be tightly attached to the human arm. The system is also kinematically equivalent to the arm of an operator. The exoskeleton is attached to the back of the operator and any component which forms interface with the human body is adjustable. As a result, any misalignment between the operator and the system imposes kinematic constraints of human joints and cause discomfort and a large discomfort for a normal anatomical motion. This invention primarily concerns the problem of securing to the operator, which problem has been solved with the particular design features.

Kinematic The is limited to only five degrees of freedom. The movements of the shoulder belt, as the movements of the wrist, are never discernible or controllable. Each axis is actuated directly by an engine device for direct current, which is mounted near a common axis suitable. The kinematic structure very simplified, many of the components are to be considered to be set. The base of the exoskeleton is fixed to an upper portion of the back of the operator.

Novel exoskeletons of known art, some just described, have significant limitations and are not able to respond fully to the needs which manifest, in particular for space applications. Exoskeletons The known in prior art are, for most, based on a mechanism which is intended to mimic or approximate best of the kinematics of the human limbs. Finally, emerge as the description of the invention which will follow, exoskeletons the mechanisms according to the prior art have important structural differences with the mechanism provided in the invention.

The aim of the invention is, both, to the disadvantages of the prior art, and some of which have just been recalled, and to meet the needs which manifest, and which are also biased.

The invention binds to an exoskeleton for a human arm having, in particular, all degrees of freedom thereof, light in weight, portable, because not limiting the motion of the operator, adaptable to a large percentage of the population, without substantial change, which experience all movements of the human arm, does not limit the natural range of motion, and is comfortable.

For this purpose, and conveniently, the structure of an exoskeleton according to the invention has the following essential characteristics:

The exoskeleton arm according to the invention is similar, in terms of its support base, to one half of a weave. It comprises two rigid plates chest (front and back) and a hinged handle. The breast plates are attached to the operator's chest by straps or equivalents any suitable means. The front plate serves as a structural base to of a jointed chain which articulates the handle. It provides a fixed reference for any movement of the exoskeleton. The back plate supports motors that move the joints of handle. Motors and joints are connected by a series of flexible tendons operate.

The exoskeleton has several advantageous technical characteristics.

In a first important feature, the kinematics own to an exoskeleton according to the invention is specifically designed. There is no attempt to mimic the kinematics of the shoulder, elbow and/or human wrist. Any on the contrary, a kinematic chain alternative, offering the same freedom of movement, is arranged parallel to the human joints. Human joints The chain and the form a closed kinematic loop which:

-for the shoulder begins to the fastener of the arm (to the sternum), extends over the joints and ends and [...] scapulo-clavicula and ends in the middle of the humerus;

-elbow begins in the middle of the humerus and ends in the middle of the forearm; and

-wrist begins in the middle of the forearm and ends in the middle of the palm.

Although the parallel kinematic of the exoskeleton is different from that of the arm, each pose human joints can be clearly determined by the corresponding posture of the kinematic chain exoskeleton.

The advantages of such an approach are many, and can be summarized as follows:

The weight of the system is not carried by the arm but by the chest.

The full range of movement of shoulder, elbow and wrist is possible.

The joints themselves are simpler and more reduced

It is not necessary to align axes human joints with those of the exoskeleton: thus, no long and complex fitting procedure is required before that the exoskeleton is operational.

The base of the exoskeleton is a part of the human body. Therefore, the exoskeleton can be configured as a portable system that provides more flexibility for the general movement of the operator. By using a portable controller exoskeleton, remote controls weightless, or for the least in micro-gravity, are very simplified because no resultant force on the body of the operator will not cause move away from the control station. As example, when using joystick feedback force, type "joysticks" (according to the Anglo-Saxon terminology), create forces thereof against the body of the astronaut, which repel the away from the handle. Therefore, it is to be attached at an appropriate place and its operational possibilities are thus limited.

A second important feature is that all the joints actuated in the exoskeleton (i.e., non-passive) are controlled by transmissions cable tendon. In the prior art, usually is used to electrical driving members directly mounted on the exoskeleton. These arrangements make the exoskeleton bulky, heavy and require a large number of control units for that it remains compatible with a high weight. Tendons The use according to the invention allows placement the control units on a back plate of the exoskeleton. The weight of the drivers is thus carried by the chest. The result is an arm extremely light which can be controlled by smaller actuators.

A third important feature relates to the possible adaptation of the exoskeleton according the invention to different human subjects. Indeed, its specific structural characteristics, which will be detailed herein enable the possible adaptation of the master arm to practically any human subject (percentage range above). The adjustments required for adapting the exoskeleton can be performed while carrying the same, and are limited typically to tighten two screw or equivalent means, as also will be shown below.

The invention has for its main object an exoskeleton arm for acquiring data representative of movement of the arm link of a human operator by means of measuring sensors and applying feedback to said joints forces and/or torques using activation units associated with at least a portion of said joints, characterized in that it comprises a first device having the conformation of a handle, to be pulled over at least one of said arms, to form a drive train of joints positioned in parallel to said arm link, said device comprising a first subset of said exoskeleton shoulder comprising a first determined number of joints associated with the shoulder joints said operator, a second subset of said exoskeleton elbow including a second determined number of joints associated with the elbow joints said operator and a third subset of said exoskeleton wrist comprising a third determined number of hinges associated with the hinges wrist of the operator, and in that said activation units are controlled by flexible tendons running along said subsets, said first to third sub-assemblies being mechanically disassociated to be individually controlled by said flexible tendons.

The invention also relates to the application of an exoskeleton arm to the remote control of a humanoid robot type working outside of a space station spatial with arms and artificial performing tasks under the control of a human operator, said exoskeleton arm being fitted onto at least one of its arms, said robot receiving data forcing executing movements in one-to-one relationship with movements of said arm and transmitting data forcing said feedback executing movements to all or a portion of said hinges of said exoskeleton arm and resulting in corresponding movement of said arm.

The invention will now be described in more detail by referring to the accompanying drawings, of which:

figures 1A and 1B schematically illustrate an example embodiment of an exoskeleton arm according to the invention carried by an operator, for the front and back, respectively;

figure 2 is a view illustrating the burst three main subassemblies of an exoskeleton according to a preferred embodiment of the invention: the subsets of wrist, elbow and shoulder, respectively;

figure 3A illustrates in more detail the subset of wrist of the exoskeleton of Figure 2, in front view, carried by the hand of an operator;

figure 3B is a schematic representation, in three dimensions, illustrating the different joints associated with the subset of wrist of the exoskeleton of Figure 3A and their axes of rotation;

figures 3C1 3C3 to illustrate a first member of the subset of wrist of the exoskeleton of Figure 3A, three-dimensional, in side view and a cross section of the figure 3C2, respectively;

3d3 figures 3D1 to illustrate a first member of the subset of wrist of the exoskeleton of Figure 3A, three-dimensional, when viewed from above and a ^ cutting of Figure 3D2, respectively;

figures 3E1 3E3 to illustrate a third member of the subset of wrist of the exoskeleton of Figure 3A, three-dimensional, in side view and a cross section of the figure 3E2, respectively;

the 3F3 figures 3F1 to illustrate a fourth member of the subset of wrist of the exoskeleton of Figure 3A, three-dimensional, in plan view and a cross section of the figure 3F2, respectively;

figures 3G1 3G3 to illustrate a fifth member of the subset of wrist of the exoskeleton of Figure 3A, three-dimensional, in side view and a cross section of the figure 3G2, respectively;

figures 3:001 3:003 to illustrate a sixth member of the subset of wrist of the exoskeleton of Figure 3A, three-dimensional, in front view and a cross section of the figure 3:002, respectively;

figure 4A illustrates in more detail the subset bend the exoskeleton of Figure 2, in the space in front view, threaded on the arm of an operator and attached to its bend;

figure 4B is a schematic representation, in three dimensions, illustrating the different joints associated with the subset of bend of the exoskeleton of Figure 4A, and their axes of rotation;

figures 4C1 4C2 and illustrate in more detail, in side and top views respectively, the beam tendons and the precharge unit due sub-elbow assembly figures 3A and 3B;

figures 4D1 4D3 and illustrate in more detail, the members of one of the links of the subset of bend of the exoskeleton figures 4A and 4B, in side and top views respectively, three-dimensional, in plan and a cross section of the figure 4D2, respectively;

figures 5A and 5B illustrate in more detail the subset of shoulder of the exoskeleton of Figure 2, threaded on the arm of an operator and attached to its shoulder, to three-quarters top and front view, respectively;

figure 5C is a schematic representation, in three dimensions, illustrating the different joints associated with the subset of shoulder of the exoskeleton figures 5A and 5B, and their axes of rotation;

figure 5D illustrates, as viewed from the rear, the pre-tensioner mechanism tendons associated with the subset of shoulder of the exoskeleton figures 5A and 5B;

5e3 figures 5E1 to illustrate in more detail a first member of the subset of wrist of the exoskeleton figures 5A to 5D, three-dimensional, in plan and a cross section of the figure 5E2, respectively;

figures 5F1 5F4 to illustrate in more detail a second member of the subset of wrist of the exoskeleton figures 5A to 5D, consisting of a telescopic joint, to the elongated state, in side view, and in section, and to the elongated state, in side view and cross-section, respectively;

-figure 5F5 illustrates a detail of the telescopic joint figures [...] 5F4;

figures 5G1 to 5G3 illustrate in more detail a third member of the subset of wrist of the exoskeleton figures 5A to 5D, three-dimensional, in plan and a cross section of the figure 5G2, respectively;

figures 5:001 5:002 to illustrate in more detail a third member of the subset of wrist of the exoskeleton figures 5A to 5D, comprising an airbag, three-dimensional and in section, respectively;

figures 6A to 6C illustrate schematically an activation mechanism for joints of the exoskeleton of the invention via tendons cable

figure 6D illustrates schematically the actuating mechanism of the telescopic joint to 5F5 figures 5F1; and

figures 7A and 7B illustrate, in the sagittal section, members fixations grinding tool for the arm and the forearm, respectively.

In the following, as has been indicated and not limited to anything in the range, will be effected is below in the context of the preferred application of the invention, i.e. in the case of remote control operation by an operator (a astronaut for example) of a robot spatial, humanoid type working outside of a space station, the operator carrying an exoskeleton arm according to the invention.

The robot, as such, is not directly involved in the invention and has not been shown in Figures. A priori, any robot of known art can be implemented in the frame of the invention, without requiring modifications.

In well known, for applications of this type, is provided usually data communications between the robot and a fixed station, in the space station and/or the earth, or directly between the robot and a data processing system associated with the exoskeleton. Any means can be used two-way data transmission, advantageously of radio transmitting/receiving means-electric.

The data "forward" consist of instructions transmitted to the robot for the operating, in response to a particular movements that the operator makes the exoskeleton. The robot reproduces the movements of the exoskeleton. In the opposite direction, it sends data called of "feedback" allowing the operator to "feel physically" forces and torques experienced by the robot, and not only "visually", e.g. in tasks performed by the robot on a display screen.

This feedback on the operator is very important, because it allows, for example, of precisely metering and forces above torques exerted by the remote controlled robot.

A working example of an exoskeleton arm according to a preferred embodiment of the invention will now be described by reference to Figures to 7B 1A. On these Figures, the identical elements bear the same references and will not be re-only described as needed.

Figures 1A and 1B schematically illustrate an example of exoskeleton arm [...] according to a preferred embodiment the invention and its main components. The exoskeleton [...] carried arm is represented by an operator U, in front view (figure 1A) partial view and rear (figure 1B), respectively.

As previously indicated, the exoskeleton arm [...] proper comprises three main subassemblies: a subset of wrist 1, a subset of bend 2 and a sub-sets of shoulder 3, respectively. These three subsets, 1 to 3, are dedicated to the detection of the relative movements of the wrist P, elbow and shoulder C E of an operator U and actuation of the associated hinges. They form a sleeve threaded on one of its arms, for example the right arm Bd.

On figures 1A and 1B, the sub-assemblies, 1 to 3, of the exoskeleton arm [...] are represented threaded on the right arm Bd of the operatorU, because it is assumed that it is right. Of course, the device according to the invention is not limited to this characteristic. It may be threaded on the left hand of the operator orBg U, on the two arms, without departing from the scope of the invention.

These three subsets, 1 to 3, form a kinematic chain, whose specific characteristics will be described below. The chain is represented in more detail in exploded in Figure 2.

In another important feature of the invention, said the drive train, more specifically, by the subset of wrist 1, is attached to a glove 5 threaded to a hand or both, M of the operator, in this case on his right hand.

In accordance with another important feature of the invention, said the drive train, more specifically, by the subset of shoulder 3, is attached to the chest TH of the operator U, using a support base 4.

In a preferred embodiment, the support base 4, resembles a half of weave. It comprises two rigid plates chest: to 40 (figure 1A) and back 41 (figure 1B). The breast plates, 40 and 41, are attached to the chest of the operator U TH by straps 42, equivalents or any suitable means. The front plate 40 serves as a structural base to the chain joints sub- [...] 1 to 3. It provides a fixed reference for any movement of the exoskeleton [...] arm.

In accordance with another important feature of the invention, the different subsets, 1 to 3, of the drive train are connected. Beams of tendons type flexible cable 7 to actuate particular joints associated with the subsets 1 to 3, said "active" joints and are actuated in turn by motors Mt ( B figure 1).

In reality, flexible tendons are constituted by two types of separate elements; cables themselves and claddings spiral guiding the cables on all or part of their lengths. On Figures, the visible portion of the beams 7 essentially comprises the sheaths.

That is using the aforementioned active joints that forces and/or torques feedback can be printed in the exoskeleton arm [...], to be experienced by the operator U.

There is two beams of different cables, arbitrarily called "beam [...] 1" and "beam No. 2". A first beam leads from the back of the operator U into a pre-load in the subset shoulder 3 and, also, from there along of the structure to the initial charge the elbow assembly and from there further on to the wrist P. The second beam leads directly from the back surface to joints before entering a pre-charge unit to the base of the exoskeleton [...].

In contrast, other joints, said "passive", however, being associated with motion sensors, allow the movements of the human arm Bd of the operatorU, the optionally detect and transmit data matching movement, but impart or force or torque on the human arm Bd. For example, sensors referenced Ca Ca_{12 to16,21 to23 Ca Ca,} Ca Ca_{31 to36,} 218 and 226, are represented on different Figures appended to the present description.

The back plate 41 supports the aforementioned engines Mt. As shown in Figure 1B, it was assumed that the motors Mt ( not explicitly represented) were disposed within a housing 6 attached to the plate 41. Advantageously, is used direct current motors.

The housing 6 is in particular connected to the drive train, and more particularly to the subset of shoulder 3, by the beam tendons 7.

They also comprise circuits for transmitting/receiving data and instruction communicating directly with the robot to be remotely controlled or via an intermediate station (not shown).

The motors Mt actuate one or more joints of the sub-assemblies 1 to 3 by acting on flexible tendons appropriate beam 7, in the manner that will be specified hereinafter.

One will detail more accurately maintaining the drive train.

In a whole, the master arm of the exoskeleton [...] comprises sixteen joints, and thus the sixteen degrees of freedom or "DOF". Each axis is provided with an angle sensor for obtaining information on the angles (rotational movement around a particular axis) of joint.

The joints are grouped, as recalled, in three subsets:

the subset of wrist 1 (comprising six "DOF").

the subset of bend 2 (which includes four "DOF"); and

the subset of shoulder 3 (comprising six "DOF")

Figure 2 illustrates a split assembly of these three mechanisms, 1 to 3, connected by a bundle of flexible tendons 7.

According one of the essential features of the invention, the master arm is not designed to mimic the human joints arrangement, but to connect them by a kinematic chain alternately arranged link above the human limb: Bd arm in the example described. Each of the three subsets, 1 to 3, provides an alternative structure for the wrist P, the shoulder and the elbow C E (figure 1A).

One will now describe in more detail the three subassemblies, 1 to 3, of the kinematic chain the exoskeleton arm [...]. For ease of description, is will begin by the subset of shoulder 3.

Figures 5A and 5B illustrate the subset of shoulder 3, in front view and a three-quarters high, respectively. On these Figures, the head of the operator U is not represented and the bundle of flexible tendons 7 is cut. Also It will be in reference to Figures to 5:002 5E1 detail.

The subassembly 3 includes six pivot pins, five of the type known as a pivot and said prismatic type. The figure 5C is an isometric view illustrating, in three dimensions, the relative positions of these six axes, referenced A_{31 to A36,} for a particular posture C operator of the bend of the U, at a given time. The corresponding joints are referenced "joint 31" to "joint 36".

The subset 3 is adapted to perform the same movements that those of the human shoulder E, although the five "DOF" human shoulder E are simulated by a mechanism to six "DOF".

By these arrangements, the movement of the exoskeleton of shoulder 3 is limited, or amplitude or dexterity.

The base of the exoskeleton of shoulder 3 provides the complete base of the link series of the exoskeleton arm [...] and is secured to the rigid plate 40 chest which is bonded around the thorax TH of the operator U using straps 42. Securing is formed via an attachment member 33, which serves as a parent link for the first joint of the exoskeleton [...].

The distal end of the mechanism 3 is situated at the base of the upper arm BS the operator U, where it is attached to the means of an airbag 30, itself surrounded by a rigid ring piece 31.

Except of the third articulation "joint 33", A-axis_33, which is prism type, all the other joints are type pivot. The first and second joints, "joint 31" and "joint 32", respective axes A A_{31 and32,} are active and actuated by flexible tendons 731 'and 732' respectively, forming part of the beam tendons 7.

Their rotating is performed by pulling tendons that are secured by pulleys on the corresponding axes of the joints, as will be shown facing the following description. More specifically, these joints are each operated by a pair of tendons, which enables movements, either in a clockwise direction, or in an opposite direction.

For a more detailed description of the system, is will refer to the Figures. The first joint "joint 31" about the axis A_31, which is a rotating joint, is activated by a pair of two tendons 731, which belong to the "beam No. 2" above. Said joint combines the fastener 33 with the first member of a link "link 31". The link "link 31", which is the link wires of the joint "joint 31" comprises a pulley 312 which is fastened on a rotary shaft 313, which is connected to the top of ball bearings to the fastening part 33. The shaft 313 is also rigidly connected to a circular plate 314, which is screwed in two side walls 315 and 316. In by the function of the joint "joint 31", all the members of the first link "link 31" can rotate on the fastener 33, about the axis A_31. The second hinge "joint 32", which is another joint rotation about the axis A_{32 connects the} link "link 31" the link wires of the joint "joint 32", called "link 32". The link has a further shaft 322 which is rotationally fixed on the side walls 315 and 316. 732 The pair of tendons' passes through a unit 320 pre-load and is attached to the pulley 323. Two side walls, 324 and 325, are screwed together to a flange 326 telescopic. The shaft 322 is centered in a central region of the side walls by means of ball bearings for rotating the link "link 32" as a whole about the mechanical shaft 322 and around the common axis A_32. The pulley 323 is rigidly secured to the side walls and thus causes movement of the link "link 32" around the link "link 31", 732 when the tendons' pull or push.

The hinge "joint 33", prism type and A-axis_33, is provided with a telescopic tube F ( figure 6D) extended by a pretensioning spring SP.

The spring SP is of the type said coil. A tendon 733' attached to the end of the tube, current therethrough, allows the telescope tube to retract with contraction of the spring. Before pass through the telescope, the tendon passes through the pre-charge unit 320.

A link fixed telescopic joint "joint 33" is constituted by a first telescopic tube 332 and is combined with a flange 326. A displaceable connection, "link 33", comprises a system of telescopic tubes F and the distal ends of a telescopic flange 333 which are secured to an intermediate part 335. Using a compression spring 334, telescopic distal the flange 333 is pre-loaded against the telescopic flange 326. If the tendon 733' opposes the spring force SP, it causes a contraction motion of the telescopic tubes along the common axis A_33. The hinge "joint 34", which is a passive pivot joint, combines the link "link 33" with the link "link 34". Using the joint "joint 34", the link "link 34" is rotatable about the axis A_34.

The link "link 34" comprises a shaft 341 being connected through radial ball bearings to an intermediate part 335, to rotate about the axis A_34. The axis A_34. 342 is screwed on a workpiece in the form of a "U", which carries to the two distal ends two additional plates, 343 and 345. The plates enclose ball bearings of rotation about the axis A_35, and top plates, 344 and 346 respectively.

The fifth joint, "joint 35", which is also a joint of passive rotation, the link "link 34" with the link "link 35" to rotate about the axis A &. The link includes two collinear parts to the axes of the shafts 351 and 354, which are fixed to a outer ring 353 by clamps.

Therefore, the fastening flange fixes the shaft 352 351 353 on the outer ring, and the fastening flange 355 354 fixes the shaft on the bottom of the ring 353, respectively. The two shafts pass through the ball bearings, which are held between the plate and the upper plate 344 343,345 and the plate and the top plate 346, respectively.

The hinge "joint 36", A-axis_36, is active and is used to impose a rotation of the upper part of arm BS.

A pair of tendons 736', from the back of the operator U, passes through the outer ring 353 without touching it and is attached to an inner ring 362, which has the function of a hollow pulley. The inner ring 362, which is a member of the link "link 36" is attached to another circular ring 31, which carries air bags 30. The circular ring 31 is connected to the outer ring 353 by means of ball bearings of small section, to rotate about the axis A_36. The ring flange 363 is screwed onto the ring 31 and another member of the link "link 36". Therefore, the joint "joint 36", which can be engaged by the tendons 736', allows a radial movement of the link "link 36" within the outer ring and 353, and, within the link "link 35", about the sixth axis of articulation A_36.

The three joints "joint 34" to "joint 36" have their axes, to A 36 A _34, which intersect at a single point which allows them to act as a common single spherical joint at the distal end of the sub-assembly 3.

The figure 5D is an isometric view, as viewed from the rear, illustrating, three-dimensional, the system 8 pretensioning of the tendons of the beam 7.

Through this system, tendons, which are guided within the sheaths, may be pre-tensioned by bringing the outer sheath under tension.

The figure 6C describes more detail the general configuration of such a pre-charge unit 8.

Each pre-charge unit in the design of the exoskeleton [...] has like.

A general description of the components involved and their function will now be provided. A rigid frame, which establishes a fixed reference, hereinafter referred to as CR, is used for fixing screws C, pre-load of the tendons. C The screws, are hollow and let the pass through the tendons, that are arbitrarily referenced 700'. The sheath 700,700 which guides the tendons ', is intersected at the point where the pre-charge unit and the ends of sleeves intersection 700a end on the outer surface of the pre-load screw C_{v Since the} distal ends of the sheaths are stopped at points close to the unit activation 700bl and near the motor unit, in 7006II, the sheath 700 is compressed as soon as the pre-load screw C, are rotated in a clockwise direction. This compression increased in the sleeves which surround the spirals 700 700 tendons' tensions. These tendons are threaded in the sleeves, resulting in a pre-load of the tendons.

The five "DOF" of the human arm and six "DOF" the subset of exoskeleton of shoulder 3 form a closed kinematic loop with the following properties:

-the full range of movements of the human shoulder £can be performed; and

-all human joints (even the scapulo-clavicular) can be detected and actuated.

One will now describe in more detail the sub-base assembly 2, by reference to Figures to 4D3 4A.

The figure 4A illustrates more specifically, as viewed from the rear, the subset of bend 2. This comprises four articulation axes.

The figure 4B is an isometric view illustrating, in three dimensions, the relative positions of the four axes, A_{21 to A24,} for a particular posture C operator of the bend of the U, at a given time. The corresponding joints are referenced "joint 21" to "joint 24".

On the left-hand side of figure 4A, is represented two telescopic tubes gemini, 200 and 202 respectively, adjustable in length, which provide the means for adapting the length of the exoskeleton to the upper arm BS human. The length can be adjusted by turning off two screw members, 201 and 203 respectively, one for each tube, 200 and 202. No further adjustment is unnecessary.

The first ends of the telescoping tubes, 200 and 202, are secured to a ring-shaped part 204, surrounding the upper arm BS, that is say above the bend. The exoskeleton [...] When is assembled, the annular part is rigidly secured to the ring 363 the subset of shoulder 3. The second ends are secured to a workpiece 205, horseshoe-shaped, also surrounding the upper arm BS.

These two rings, which are connected by means of telescopic tubes, constitute a part of the adjusting unit. Two additional parts are connected to this unit: two plates base joint for the articulation "joint 21". The base plate side 206 is rigidly mounted on the ring carries the shafts 205 and 207 which establish a portion of the common joint "joint 21". The central floor board 208 is also connected to the ring 205 on its proximal side, and carries another shaft 209, which, with the shaft 207, constitute the mechanical means for rotation about the axis A_{21 of the joint}"joint 21". A unit for adjusting the joint constructed the parent link for the articulation "joint 21". The link child of this joint, the link "link 21", comprises a further ring 210, having the shape of a horseshoe. The side plate 212 is secured on the distal side to the proximal side of the ring 210. On its proximal side, the side plate 212 is mounted on the shaft 207 by means of ball bearings which permit a radial movement. Furthermore, a pulley 213 is attached to the side plate 212, for the actuation of the link "link 21" about the hinge "joint 21" A-axis_21. Tendon 721, from the wire harness 7 extend through the plate side base 206 and are attached on the pulley 213. Therefore, by the operation of the tendons, can be influenced or inducing movements of the bend U C of the operator. The centre plate 214 is also attached to the proximal side of the annulus 210. The proximal side of the middle plate 214 is mounted by means of ball bearings on the axis 209, that is collinear to the axis 207, allowing the link "link 21" to rotate about the axis A_21. Two hollow tubes 215 and 216 are attached the distal side of the ring 210. The tubes serve as parent to the prismatic joint link common "joint 22".

The pre-load of the forearm 217 is secured to the hollow tubes 215 and 216 by means of screws. On the figure 4A, tendons which pass through the pre-charge unit are not represented. On figures 4C1 and 4C2, is represented the tendons of the wire harness 7 entering the pre-charge unit, tendons outgoing not shown. The link "link 21" and the link "link 22" forming the hinge "joint 22" which a passive articulation and prismatic. The link "link 22" massive comprises two tubes 221 and 222, which are collinear and concentric with the hollow tubes, 215 and 216, so as to fit closely to the inner enclosure hollow tubes, and, as well, to form a telescopic system of tubes. The tubes solid, 221 and 222, are moveable within the hollow tubes 215 and 216. Distal, the two tubes, 221 and 222, are attached to a part 220, which is a ring portion. The piece 220, its proximal side, connects the two hollow tubes and, its distal side, is fastened to a part 224, in the form of a "T", which carries a small shaft 225. Using the telescopic tubes, the link "link 22" can be moved linearly about the axis A_22, relative to the link"link 21".

The pre-load carries a linear sensor 218, whose moving part is attached to a plate 223. The plate is fixed to the solid tubes, 221 and 222, by means of screws. Therefore, when the link "link 22" is in motion along the common axis A_22, the movable part of the linear sensor moves together with the plate 223.

The link "link 22", which is a link movable in the joint "joint 22", is simultaneously the parent link for the articulation " joint 23

Figures 4D1 4D3 and describe the members of the joint "joint 23" in more detail, respectively in the space, and sectional "mm" of Figure 4D2. The part 224, in the form of a "T", carries a fixed shaft 225, on which are mounted two ball bearings, 226 and 227 ; on the middle side portions 226 and 227, respectively, of the workpiece 224 of "T" shaped.

The mobile link on the joint "joint 23" is the link "link 23" that is able to achieve passive rotation about the axis A_{23 of the joint}"joint 23". The connection comprises an outer metal ring 230, which is connected to a flange part 231 on its bottom. The flange 231 is screwed in between two side plates, a median side 232 and 233, respectively. These side plates, 233 and 232, are connected on the outside of the ball bearings, 226 and 227, respectively, thereby to allow rotation around the shaft 225.

The link child, "link 24, of the joint " joint 24 ", which is a movable part, comprises a rigid ring 240, which encloses an airbag 28, and a pulley hollow 241, which is attached to the proximal side of the rigid ring 240. 724 The tendons' which are guided along sleeves 724, pass through the outer ring 230 and are attached to the hollow pulley 241 (as shown to Figures 3E1 3E3). The rigid ring 240 is centered within the outer ring 230, by means of a ball bearing 242 low section, allowing rotation of the ring about the axis 240 A_{24 within the outer ring} 230. The rotation is induced by the relative movement of the tendons 724'. 724 These tendons' are secured to the pulley 241 and to the sheaths 724 that are mechanically interlocked outside of the outer ring 230, by stopper parts 234. Therefore, via 724 tendons ', the link "link 24" can be moved about the axis A_{24 of the joint}"joint 24", driving a pronation or supination of the forearm of the operator U AB.

The need for kinematic apparently complex, compared to the simplicity also exposed the elbow joint, is justified below.

Indeed, cannot be considered by human joint elbow pure C as a hinge, in the sense that the position of the shaft oscillates during the movements. Therefore, use in an exoskeleton of a simple " DOF 1 common, to mimic the elbow bending cannot lead to accurate results and because of the friction in the mechanism, because the two axes of rotation does never coincide.

It is therefore necessary to add the additional passive two joints above, "joint 22" and "joint 23", respective axes_{n and} A A_23, equipped with angle sensors (for example the linear sensor 218 for the axis A_{22 and} the angle sensor 226 for the axis A_23, in Figures and 4C1 4C2).

The mechanism combined then accurate results for the elbow flexion C, even if the system is so very inaccurate.

Overall, the system establishes a reference kinematic structure above the bend human C, from the upper arm BS and the end of the forearm AB. C Movements human elbow (flexion/extension and pro/supination) can be detected and influenced without limiting the natural range of motion. To provide a feedback torque normal to the human bending and to the elbow rotation, only two triggers are required, although four movable axes provide an unhindered motion of the human arm during the remote controls.

One will now describe in more detail the subset of wrist 1 by reference to Figures to 3:003 3A.

The figure 3A illustrates, in front view, the subset of wrist 1. This comprises six pivot pins, all type pivot.

The figure 3B is an isometric view illustrating, in three dimensions, the relative positions of these six axes, to A_16, for a particular posture M of the hand and wrist of the operator P U, at a given time.

Figures 3E1 3E2 and are used as reference for explaining the operation of the first joint of the wrist sub-assembly 1. Figures 3C1 3G3 to illustrate further views of the mechanism-assembled. The corresponding joints are referenced "joint 11" to "joint 16".

The proximal end of the sub-assembly 1 is fitted on the forearm Ab and fixed on the latter by an airbag 28 surrounded by a rigid ring piece 240, threaded onto the forearm, near the hand. The rigid ring piece 240 is connected on its exterior to the interior portion of an outer ring 110, by means of a ball bearing 111 thin section, as shown more particularly to Figures 3E1 3E3. Via the ball bearing 111, the outer ring 110 can rotate about the axis which is the axis of rotation of the joint "joint 11". On the figure 3A, is only the outer ring 110 and the inflated bag 28.

The link "link 11", which is the link child in the joint "joint 11", comprises the outer ring 110 and stopper parts 112, which are screwed on the ring 110 to form a locking means sleeves 711 at their distal end. Tendon 711' are threaded through said stoppers and 112 of holes in the outer ring 110, at the end to a hollow pulley 113, which is attached to the fixed ring 240. Therefore, by creating relative movement between tendons 711' and the sheaths 711, the outer ring 110 and, accordingly, the link "link 11" in its entirety are moved about the axis A_{in of the joint}"joint 11", as shown more particularly the view split joints "joint 11" and "joint 24" figures 3E1 to 3E3. On the figure 3A, the sheaths are not represented.

Further means of the link "link 11" is a clamp 114 that is used to fix a mechanical shaft 115 orthogonal to the outer ring 110. Furthermore, a stop plate 116 is fixed in the fastening flange 114 to stop the spiral sleeves 712 at their distal end. The hinge "joint 12" causes movement of the link "link 12" around the link "link 11", along the axis of rotation M2.

The sectional view of the joint "joint 12" in Figure 3C3 can be used to describe the joint in further detail. The shaft 115 carries a ball bearing 117 at its distal end, to which is fixed a base plate 120 on the outer surface of bearing. Said base plate 120 constitutes a reference for the link "link 12", to which all other portions of the link are secured. Therefore, the pulley 124 is screwed on the base plate 120, securing tendons 712' the link "link 12". Tendon 712 'are threaded in the stopper 116 of the preceding link and create a rotation in the link " link 12' soon as relative movement between the tendons 712' and the sheaths 712 is induced by the activation of tendons by motors. Furthermore, two horizontal plates, 121 and 122 respectively, are fastened to the base plate 120, by means of screws, as shown more particularly by Figures 3D1 to 3D3. The plates each carrying two ball bearings, 123 and 124 respectively, between which is held the mechanical shaft 131 of the joint "joint 13". The hinge "joint 13" connects the link "link 12" as a link to the child parent link "link 13", which passively rotates about the axis A_13. The base of the link "link 13" is the shaft 131, to which a cylindrical part 130 is attached. The cylindrical part 130 includes a drill, orthogonal to the cylindrical surface, which provides the means for attaching a cylindrical beam 132 at its proximal end. Due rotation of the shaft 131, the link integer "link 13" rotates about the axis A_{13 of the joint}"joint 13". The distal face of the cylindrical beam 132 is fixed to a plate flange 133, which carries two horizontal plates, an upper and a lower 134 135, respectively, as shown more particularly to Figures 3E1 3E3. The bottom plate 135 provides a means for stopping the sheaths 714 at their distal ends. Similarly to the plates, 121 and 122, the plates 134 and 135 carry ball bearings which hold and centre the mechanical shaft 141 between the plates 134 and 135.

The hinge "joint 14", which is a living hinge, causes rotation of the link "link 14" around the link "link 13", along the axis A_14. The link "link 14" has another, cylindrical part 140, which is fixed on the axis 141, and has a drill orthogonal to the cylindrical surface, which secures the proximal side of a cylindrical second beam 143. A pulley 142 is further affixed to the cylindrical portion 140, to secure the tendons 714'. By creating a relative movement between the tendons 714' and the sheaths 714, movement of the shaft 141 is induced around the axis A_{u of the joint}"joint 14". This movement of shaft causes movement of link "link 14", in its entirety, around the link "link 13".

The distal end of the cylindrical beam 143 is held in a further cylindrical portion 144, which is attached to a shaft 145.

The shaft 145 constitutes the mechanical axis of the passive articulation "joint 15" which connects the link "link 14" at "link 15", wherein the link "link 15" rotates as a child link around the link "link 14" along the axis A_15, as shown more particularly to Figures 3F1 3F3, and 3B. The shaft 145 is held between two ball bearings, which are held by two horizontal plates, an upper and a lower 151 respectively, these plates being screwed on the base plate 150 of the link "link 15".

The distal end is attached to a glove of hard plastic 5, placed on the hand of the operator U M. In the example shown, the glove 5 consists of a main housing 50 having a first port 51 (on the top figure 3A) for the output of the thumb and one or more ports 52 (axial) allowing a free outlet of the other fingers of the hand m.

The subset 1 is attached to the housing 50 of the glove 5 by any appropriate means (screw, etc), via a distal 54 associated with the hinge axis "joint 16", A-axis_16.

The hinge "joint 16" combines the link "link 15" with the distal part 54, for active, influenced by tendons, about the axis A_16. The distal part 54 is fixed to the back of the glove 5, wherein is inserted the hand of the operator U M. Another side of the distal part 54 is connected to a base plate 160, as shown more particularly to 3G3 figures 3G1.

Said base plate 160 is maintained at a second plate 161 to fix a shaft 162 orthogonal to the surfaces of the parts. The shaft 162 carries a ball bearing on the distal side, on which is attached the base plate 150 of the "link 15". A pulley 153, which is directly mounted on the base plate 150 tendons 716 fixed ', from the sheaths 716. 716 Since the sheaths are attached at their distal ends to a plate stop 163, which is attached to the base plate of the link "link 16", any relative movement of the tendons 716' against the sheaths 716 induces a rotation of the "link 16" about the axis A_16, relative to the link "link 15".

Briefly, the mobility of the handle subassembly can be detailed as follows:

The three joints "joint 13" to "joint 15", of axes A_{n to A1S,} are joints of a type at pivot. The joints "joint 13" and "joint 15", A A axes_{13 and15 are purely} passive, the joint "joint 14", A-axis_14, is active and controlled by one of the pairs of flexible tendons of the beam 7, referenced 714'. Passive The joints have been integrated to the sub-assembly 1 to provide an unhindered motion of the human wrist P during the remote control operation of the robot (not shown).

With the human skeletal structure and the fasteners on the human body the operator U on two sides, this mechanism forms a pantograph. The abduction or adduction of wrist P can be controlled by the actuation of the joint "joint 14", A-axis_14, and resulting movement in joints passive. 714 If the tendons' actuate the joint "joint 14" to low joint angles, abduction the wrist joint P is imposed. Once tendons 714' control the joint "joint 14" to high joint angles, adduct the wrist joint P is imposed.

To understand how a torque is exerted to perform a wrist bending P, is shown in the isometric view shown in Figure 3B.

The joints, "joint 12" and "joint 16", A A axes_{12 and16,} are both active type. They are used to detect and imposing the wrist bending movement P. If, for example, the two joints rotate in a clockwise direction, the links joints exoskeleton control a bending of the human wrist P upwardly and, reciprocally, a command in the counterclockwise direction, imposes a bending downwards. If the two joints are blocked, no bending of wrist can occur.

To achieve these movements, the two joints, "joint 12" and "joint 16", also are controlled by pairs of flexible tendons 712 'and 716', respectively.

Since the human wrist P is an articulation ellipsoid and a ball joint, these five links alone cannot provide a optimal behaviour the mechanism during circumduction or any other combined movement. Therefore, the joint has been introduced in the drive train. The hinge "joint 11", of axis ^ δ, is still a hinge-like pivot active which may compensate for the eccentricity of any combined movement. It is controlled by a pair of flexible tendons 711'.

Advantageously, all joints subset 1 are associated with sensors, Ca Ca_{12 to16 (} figures 3B) which measure the angles of rotation around the corresponding axes, Λ [...], [...], to A_16. The data, results of the measurement, are transmitted, by any suitable means, to the reception systems localized e.g. in the space station, or directly in the housing 6 (figure 1B). Transmissions It can be wired or wireless (radio-transmission, etc). These aspects, per se, are well known to one skilled in the art and it is not necessary to detail further.

As a result of these provisions that the sub-assembly 1 allows for free movements of the wrist P, without limit in any way the degree of mobility of the operator U.

One will now describe in more detail the operation of the control unit of the hinges.

Since it has been indicated, according to one of the important features of the invention, the drive torques of live hinges are remotely transmitted by using cords tendons 7', guided along the exoskeleton structure [...], from enginesMt disposed on a rear plate chest 42, and transmitted to each joint activated. The engine mount back of the user U minimizes the size and the weight of the master arm exoskeleton [...].

In a practical embodiment, are advantageously used, the tendons of the beam 7', of multicore cables, typically and 7x19 of 1 mm diameter. This choice enables minimize friction of curvature and allows loads of up to 50 nm. To efficiently transfer torques tendon using a transmission cable, the cables are to be subjected to forces to be pre-tensioned to half their operating load, is 25 nm in the example described.

Figures [...], 6B and 6C schematically illustrate how a pair of tendons cable, arbitrarily referenced 700', actuates one of the active joints, of arbitrarily referenced A axis.

A pulley, arbitrarily referenced R, coaxial with the axis δ, is rotated about this axis by a loop formed by the pair of tendons 700'. The axis of the pulley R is secured to a first part fixed assumed, arbitrarily referenced A,. A second part, mobile assumed, arbitrarily referenced A_2, is driven in rotation about the axis R Λ by the pulley.

On the figure 6A, the two parts and A ^ A_2, are represented in the extension one of the other: state referenced I. If Torque is applied to the pulley R ( in the counterclockwise direction in the example:

arrow f), via the pair of tendons 700', thereof will be rotated about the axis and the workpiece δ A_{2 will follow} the rotational movement: referenced state II (figure 6B). The movable piece, now referenced A '_2, is orthogonal to part A_v

Of course, a torque in the opposite direction (clockwise) affect the movable part in its first state A_{2 (} figure 6A).

Tendon 700' are guided on the exoskeleton [...] ( figure 1A) by sheaths in which they slide, arbitrarily referenced 700. The guide length can be changed in accordance with the length of tendon 700'.

The figure 6C described in greater detail the mechanical units included along the path of a tendon, from an engine and terminating at a joint activated. The figure 6C describes the general case of activating the joints of rotation.

Tendon 700 ', which are fixed to the pulleys R, as described above, are guided along the spiral sleeves 700 until reaching a pre-charge unit, which is used to stretch tendons 700' via the sleeves and create a pre-load. This can be accomplished by shortening the length of the tendons with respect to the sheaths by turning screws pre-load in the counterclockwise direction. The system pre-voltage has the advantage that the activation unit does not have to be attached to the same reference structure that the pre-charge unit, and thus can be moved in space relative to the pre-charge unit, without loss of voltage or unintentional change of position of the axis rotated.

Guide through the precharge unit, tendons 700' are guided by a sheath 700 leading to a motor unit (Mt engine). The motor unit ME Mt comprises a pulley which is secured to the motor axis Mt, either directly or via a member speed change. Mt The engine itself is mounted on a workpiece D reference which is also used to stop the proximal end 7006II sleeves. Tendon 700' extend through this reference piece D to wrap on a pulley ME, where they are attached.

Therefore, for carrying action of the activation unit, the motor is to drive the pulley Mt ME in the same direction as the desired movement for the articulation activated.

It should be understood that the controller joint just described is located at active all the joints have been described previously.

A special case of linear activation is comprehended by reference to Figure 6D which describes schematically the linear on the common joint prismatic "joint 33".

The function of the pre-initial charge is identical to the functionality described herein as facing the figure 6C. The main difference resides in the activation unit. The linear articulation is operated by only one tendon 700', which is inserted at the center of the telescopic tubes F. F These tubes are secured on the distal side to a stop plate H, wherein the distal end of the tendon 700' is attached. On the side proximal telescoping tubes F, is provided another stop plate G which prevents the distal end of the sheath 700 to pass the interior of the telescopic tubes F. The tendon 700' can pass through the plate G and reach the interior of the sheath 700 just after emerging from the proximal end of the telescopic tubes F. Between the two detent plates, G and H, a compression spring created a repulsive force.

After pass through the pre-charge unit, the tendon 700' and the sheath 700 reach the motor unit. The motor unit includes a reference plate Mt K on which the motor is fixed and on which the proximal end of the sheath 700 7006II abuts. The tendon 700' through the plate K and is attached to a pulley J. The J guide pulley the tendon along a spiral profile, thus variable radius. Through this special form of pulley, can be eliminated the non-linear behavior of the increasing compression force of the spring. Therefore, the motorisation control is easier.

M If the engine pulls the tendon 700', the plate H of the activation unit begins to bias the compression spring SP. The telescoping tubes F contract in their entirety. The release of the tendon 700' In opposite direction, the pulley the J allows the elongationF telescoping tubes.

One will now describe in more detail the manner of fixing to an operator U of the different portions of the exoskeleton arm [...] of the invention, by referring again to Figures and 1 1A B, and accompanying 7A and 7B.

To return, the exoskeleton complete [...]TH is attached to the chest of an operatorU. Two rigid plates, 40 and 41, provide a rigid structure for the exoskeleton [...] reference. The two plates, 40 and 41, are bonded together around the thorax human TH by means of belts 42, advantageously fabric self-engaging. Exoskeleton The master arm is screwed on the front plate using the fastener 33 (figures 5A and 5B) and, therefore, uses the human thorax TH as a reference.

In the fixations Bd on the arm and the forearm AB, is used, as it has been biased, inflatable annular pads.

Figures 7A and 7B illustrate, in the sagittal section, the cushions inflatable annular subsets of shoulder 3 (cushion 30) and wrist or elbow 2 1 (cushion 28), respectively, also as shown in Figure 2.

The annular inflatable cushions, 30 and 28, are inserted in two rings outer rigid, 31 and 240 respectively. Advantageously, inflatable annular these pads can be made of silicone rubber and may be inflated by pumps which can be off by clamps. When inflated, the rings create a slip-resistant binding between the human arm, BS orAB, and the outer rigid rings. The rings outer rigid form the attachments for the elbow assembly.

In order to minimize the friction at each joint and thereby increase the efficiency of the overall system, with each axis is advantageously of ball bearings, for example the ball bearings 242 referenced in Figure [...]. Therefore, the human motion mechanisms follow each upper arm BS, forearm and wrist AB P unimpeded.

In one example of the practical realization of the exoskeleton arm [...] ( figure 1A) according to the invention, it has been designed to be as light and most rigid possible. To this end, the majority of the pieces has been performed preferably based on aluminium and, as far as possible, plastics based (polyvinyl chloride PVC for example). The large structural parts to enclose the arm Bd ( or Bg) of the operatorU have been advantageously made compound of carbon fiber to reduce the weight and at the same time to increase the rigidity of the rigid structure exoskeleton [...].

The last interface to the human arm Bd ( or Bg) brace distal end exoskeleton to the palm of the operator U ( see Figure 3A for example). Since it has been described, the operator U carries a rigid glove palm 5 having openings 51 and 52 and attached to the palm with tissue self-engaging 53. The use of such a free interface maintains all the fingers of the operator U. Therefore an additional interface type haptic can be used: for example a "cyber glove" or a " [...]".

In view of the foregoing, there is easily that the invention achieves the goals that it is attached.

The exoskeleton arm according to the invention provides, as it has been biased, many advantages, that it is not necessary to recall.

This is due, on the one hand to the original design of the kinematics, which does not attempt to mimic the kinematics human. This is due, on the other hand, to the use of cable tendon to actuate the hinges. This is due to the implementation of airbags, allowing high adaptability of the exoskeleton, without the need for tedious procedure settings:

adjusting two screw members or the like, located in the telescoping tubes, is typically sufficient to provide a match in situ the exoskeleton of arms to a large percentage of subjects (typically a range of percentages above).

It should be clear however that the invention is not restricted to only those Exemplary embodiments explicitly described, particularly in connection with Figures 1A to 7B.

Also, although the invention has been described in its preferred application, in other words the remote control of a humanoid robot type working outside of a space station, it is clear that the invention is by no means limited to that application.

Any on the contrary, it is applicable in many fields, and, but not limited to, in the following fields:

remote control highly accurate real or virtual robots for nuclear operations, for operations of the type known as "offshore", for clearing, for manipulations of hazardous materials, for biological decontamination, etc;

re-education of individuals with temporary alterations of the arm: the exoskeleton is used for passive gymnastics;

actuation of passive prostheses for disabled persons, orders are performed by the voice or by transmitting nerve impulses;

entertaining drive of the physical form: in addition to video glasses, the exoskeleton may provide the arm exercise a set of physical form;

drive of the physical form of astronauts in orbit, in long-term mission: the biased use is similar to that above, but more precisely with the purpose of combating wasting of bone and muscle;

increasing force for patients suffering from muscular deficiencies;

realistic animation of virtual characters for the television industry and/or movies: movement of the arm of a character follows that of the moderator, providing a smoothly and very natural behavior;

said immersion video games;

teaching of the industrial robotics, for example for tasks and high-precision tasks to reduced scale, such as robotic assemblies for micro-electro-mechanical systems (said "MEMS" according to the Anglo-Saxon terminology) or technologies micro-and-Nano (said "MNT" according to the Anglo-Saxon terminology); and drive of astronauts in a virtual environment.