Machine for upper limb physical therapy

摘要

This invention relates to an electromechanical arm and accessories which are mountable on a battery powered wheelchair and used to grasp objects in the personal environment of the operator. The device is designed for simplicity of operation and comprises lower arm, mid arm, and forearm components which are rotationally and pivotally interconnected and selectively rotated through the utilization of a controller which is preferably disposed upon the battery powered wheelchair. The accessories include end-effectors (also called grippers), with features that are task specific or for general manipulation, other tools and means of holding tools, baskets, pouches, holders and other means of storing objects and tools, a variety of input devices that are tailored to the needs of the operator, a sleeve for protection, aesthetics, and increased functionality (with pockets and other means of holding objects), and mounting hardware for the electromechanical arm and associated components.