Abstract: A flexible mechanism for an exoskeleton allows for a simple and low-cost method of allowing a high range of motion between an frame and a human interface while effectively transferring support forces from the frame to the human interface. Additionally, the flexible mechanism adds kinematic redundancy that compensates for incongruities between the exoskeleton and human during forward flexion to prevent the human interface from uncomfortably sliding on the person via purely tension-loaded force transmitting elements.

Abstract: A device for supporting at least one arm of a user, has one or more arm support elements, each of which has an arm shell for mounting on an arm. Passive actuator(s) are configured to exert a force on an arm support element by way of which an upward movement of the arm in the arm shell is supported when the device is in the mounted state. The device includes at least one counter bearing for the force to be applied, and at least one actuating element, the actuation of which allows the actuator to be moved into a first state where the actuator exerts the force on the at least one arm support element, and into a second state in which it exerts a smaller or no force on the arm support element.