SUPPORT FRAME FOR AN UPPER LIMB EXOSKELETON

摘要

A support frame (310) arranged to place an upper limb exoskeleton (200) in a plurality of relative spatial positions with respect to an outer support (400), the support frame (310) comprising a containment shell (311), a weight balancing system comprising a slide (315) and a kinematical chain (320). The kinematical chain (320) comprises a first link (321) connected to the slide (315) through a first rotational joint (321') having a rotation axis z, the slide (315) arranged to allow a translation of the first rotational joint (321') along the rotation axis z with respect to the containment shell (311). The kinematical chain (320) further comprises a second link (322) connected to the first link (321) through a second rotational joint (322') having a rotation axis z' parallel to the rotation axis z, the second link (322) being connected to the upper limb exoskeleton (200) by a third rotational joint (323') having a rotation axis z" parallel to the rotation axis z. This way the upper limb exoskeleton (200) is disposable in a plurality of relative spatial positions with respect to the containment shell (311).