US 12,383,453 B2
Exoskeleton upper limb with improved compactness
Alexandre Verney, Grenoble (FR)
Assigned to COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES, Paris (FR)
Filed by COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES, Paris (FR)
Filed on Dec. 13, 2024, as Appl. No. 18/980,919.
Claims priority of application No. 2314211 (FR), filed on Dec. 14, 2023.
Prior Publication US 2025/0195314 A1, Jun. 19, 2025
Int. Cl. A61H 1/02 (2006.01)
CPC A61H 1/0285 (2013.01) [A61H 2201/1215 (2013.01); A61H 2201/149 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/1676 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An exoskeleton upper limb comprising:
a frame extending along a longitudinal axis and the frame is configured to receive a forearm of a user, the frame comprising a front wrist support and a rear support connected by a structure to enable a first pronosupination rotation of the front wrist support relative to the rear support about the longitudinal axis; and
a connection interface configured to connect to a hand of the user, the connection interface being movably mounted relative to the frame to perform a second rotation about a flexion-extension axis and to perform a third rotation about an adduction-abduction axis, the second rotation being actuated by a first kinematic chain of actuation comprising a first actuator, and the third rotation being actuated by a second kinematic chain of actuation comprising a second actuator, wherein
the first kinematic chain comprises a first connecting rod, a first rear end of the first connecting rod is hinged to a first output of the first actuator, the first connecting rod comprising a first front end coupled to the connection interface, and/or
the second kinematic chain comprises a second connecting rod, a second rear end of the second connecting rod is hinged to a second output of the second actuator and the second connecting rod comprises a second front end coupled to the connection interface.