MODULAR CONFIGURABLE EXOSKELETON FOR UPPER LIMB ASSISTANCE AND REHABILITATION

Abstract

The present invention relates to a modular exoskeleton for assistance, rehabilitation, and functional training of the human upper limb, configured to attach externally to a user's arm and reproduce physiological movements of the shoulder, elbow, forearm, and hand. The device comprises a modular mechanical architecture consisting of a shoulder module with multiple degrees of freedom, an arm module configured to allow flexion and extension of the elbow, and a hand module adaptable to the user's distal extremity. The modules are connected by detachable structural interfaces that facilitate the configuration, maintenance, and adaptation of the system to different users.The design considers biomechanical principles of the upper limb, including the variation of the center of rotation of the joints, in order to improve the kinematic compatibility between the exoskeleton and the physiological movement of the arm, providing an efficient device for robotic rehabilitation and motor assistance applications.