Abstract: In an assistance apparatus, when assisting a user in walking with an object, a motor generates, in a gait phase of a left leg, a tension less than a second threshold value in a first wire during a fifth period other than a first period during which a tension greater than or equal to a first threshold value is generated in the first wire, and a tension greater than or equal to the second threshold value in a second wire during a sixth period other than a second period during which a tension greater than or equal to the first threshold value is generated in the second wire, and generates, in a gait phase of a right leg, a tension less than the second threshold value in a third wire during a seventh period other than a third period during which a tension greater than or equal to the first threshold value is generated in the third wire, and a tension greater than or equal to the second threshold value in a fourth wire during an eighth period other than a fourth period during which a tension greater than or equal

Abstract: An orthosis for increasing a range of motion of an ankle is disclosed. In various embodiments, the orthosis includes a frame including a ball shell and a heel shell; a first actuator disposed on the ball shell and configured to apply a first force against a ball region of a foot, resulting in a moment being applied at the ankle; and a first rod connecting the heel shell and the ball shell, the first rod being slidably connected to at least one of the heel shell or the ball shell. In various embodiments, a second actuator is disposed on the heel shell and configured to apply a second force against a heel region of the foot. In various embodiments, a calf shell is configured to support a calf region of a leg that is connected to the ankle.

Abstract: A symmetric upright rotating disc exercise machine includes a base unit and two upright rotating disc units. Each upright rotating disc unit includes a rotating shaft, an upright disc, and a grip. The rotating shaft is pivotally connected to the base unit in a horizontal direction. The upright disc is mounted to the rotating shaft. The upright discs of the two upright rotating disc units are arranged to face each other. The two upright rotating disc units are separated from each other by a distance in the horizontal direction to form an operation space. The grip is mounted to the upright disc and located in the operation space.

Abstract: A leg orthosis including a securing device for securing the leg orthosis to the body of a orthosis user and at least one articulation device by means of which a first orthosis component, which can be fixed to an extremity of the user, is mounted such that it can pivot with respect to the securing device. The articulation device includes at least three joints, which respectively comprise at least one pivot axis, and each pivot axis intersects at a common point.

Abstract: A vibrating roller that can be used for a stretching regimen/massage after exercise. A user may input a user profile (height, weight, fitness level) and the exercise and intensity level of the vibration desired. The roller can determine the appropriate vibration regime/massage and intensity of vibration and vibration duration that results in an effective recovery from the exercise.

Abstract: A training device suppresses unintended operation of an operation rod when executing an operation mode in which operation of the operation rod is controlled based on a force applied to the operation rod. The training device includes the operation rod, a motor, a force detector, a rotation information output sensor, a first command calculator, and a force corrector. The operation rod moves a limb. The motor operates the operation rod in a direction of degree of freedom. The force detector detects a force component and outputs a force component signal. The rotation information output sensor detects an operation position of the operation rod in a corresponding direction of degree of freedom. The force corrector calculates a corrected force component value based on operation positions of the operation rod and force component signal. The first command calculator calculates a first motor control command based on the corrected force component value.

Abstract: A system for augmenting the motion of a person includes an assistance apparatus with a first attachment for connecting the assistance apparatus to a first point on the person's body, a second attachment for connecting the apparatus to a second point on the person's body, an actuator for applying force between the first and second attachment points, the force augmenting motion of a part of the body, and a set of sensors detecting reaction force on the person's body when moving in the manner that the actuator augments. A control system implements a negative feedback loop, in which the force applied by the actuator is based on a weighted sum of measurements from the sensors, and is updated continuously based on the sensor measurements.

Abstract: An assist system includes a fist belt worn on an upper body part of a user, a second belt worn on a knee of the user, a wire, a motor coupled with a first end of the wire and disposed on the first or second belt, a drive controller that controls drive of the motor, a gyro sensor that is disposed on the second belt and that measures an angular velocity about a direction perpendicular to the direction of the wire, and a controller. When the angular velocity is greater than or equal to a first threshold with a first tension being applied to the wire using the motor, the controller outputs first information. A second end of the wire is coupled with the second belt when the motor is disposed on the first belt but coupled with the first belt when the motor is disposed on the second belt.

Abstract: A training device, including a frame having an interior opening and a support, a piece of conditioning equipment supported on the frame by the support, a resistance harness coupled to the frame, the resistance harness has a portion attachable to a user, and a cardiovascular exercise machine within the interior opening of the frame.

Abstract: A vehicle seat includes a seat back having a foot massage system. The seat back includes a front side and rear side, the rear side receiving the foot massage system. The foot massage system is configured to pivot around an axis that is fixed relative to the seat back between a first in-use position, wherein the massage system pivots down to receive a passenger's feet, and a second folded-away position wherein the massage system is retracted along the backrest rear side. The foot massage system includes a registration area for guiding the passenger's foot to proper massage position and can be equipped with a pressure detection system having pressure sensors that, when pressed, allow the foot massage system to work.

Abstract: A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.

Abstract: This is a lower limbs exoskeleton and a method whereby a user fitted with such an exoskeleton moves an object. Said exoskeleton comprising two jointed legs designed to be coupled to the lower limbs of a user, and a connecting member joining together the upper end portions of the legs to which it is jointed and which can be positioned in the region of the pelvis of the user. The exoskeleton also comprises means of actuating the jointed legs according to the movements of the user, and a connecting member wholly situated in front of the upper end portions of the jointed legs when considering the direction of walking.

Abstract: The present invention includes a tethered ankle-foot prosthesis emulator having two independently-actuated forefoot digits that are coordinated to provide plantarflexion and inversion-eversion torques, and an independently-actuated heel. An end-effector was designed which is worn by a subject, and which was integrated with off-board motor and control hardware, to facilitate high bandwidth torque control. The platform is suitable for haptic rendering of virtual devices in experiments with humans, which may reveal strategies for improving balance or allow controlled comparisons of conventional prosthesis features. A similar morphology is also effective for autonomous devices.

Abstract: The present invention relates to a two-degree-of-freedom planar rehabilitating, monitoring and/or evaluating device comprising a first guiding mechanism (2), a second guiding mechanism (3), substantially parallel to the first guiding mechanism (2), a third guiding mechanism (4), substantially perpendicular to the first and second guiding mechanisms (2, 3), and an end-effector (5), wherein the third guiding mechanism (4) is connected to the first and second guiding mechanisms (2, 3), and wherein the end-effector (5) is connected to the third guiding mechanism (4). The present invention also relates to a two-degree-of-freedom planar rehabilitating, monitoring and/or evaluating interactive device adapted for rehabilitation, monitoring and/or assessment of the upper limbs of a subject, comprising said device.

Abstract: A vehicle seat in which a thickness of a seatback is reduced is provided. A supporting mechanism comprises a pivot shaft, a hub member, and a reinforcement shaft. A front end of a seat base frame is connected to a lower frame through a first joint in a pivotal manner. One end of a pivot shaft is connected to a rear end of the seat base frame in a pivotal manner, and other end of the pivot shaft is connected to a hub through a second joint in a pivotal manner. The pivot shaft and the reinforcement shaft are overlapped in a width direction of the vehicle at least partially.

Abstract: A control method for a lower limb rehabilitation apparatus for rehabilitation of the lower limbs of a user includes the step of putting an exoskeleton on the lower limbs of the user, the step of setting a trigger condition, the step of using EMG muscle sensors to detect EMG signals from specific muscles of the user when the user is performing specific actions, the step of judging whether the sensing result meets the trigger condition, and the step of re-setting the triggering condition without moving the exoskeleton if the sensing result does not meet the trigger condition, or, the step of triggering a motion generator to provide a control signal to a control unit for controlling the exoskeleton in moving the lower limbs of the user to perform specific actions if the sensing result meets the trigger condition.

Abstract: A robotic sports apparatus includes a plurality of robotic arms and a plurality of fastening members operably coupled to a respective robotic arm of the plurality of robotic arms. Each fastening member is configured for receiving a limb of a patient. Each robotic arm is configured to move each respective fastening member in at least one of a different direction or a different speed relative to one another for opening neural pathways in the patient.

Abstract: A method and apparatus for rehabilitation and training of an injured limb by using the corresponding functional healthy limb to control the motion of the injured limb are presented. A sensor system on the healthy and active limb, a processing unit, and a power supply are provided in the apparatus to provide signals that activate a powered mechanism configured for moving individual bones on the injured passive limb.

Abstract: A compression garment apparatus including a compression garment and a pressurizer. The pressurizer intermittently pressurizes a therapeutic bladder on the compression garment and maintains a baseline pressure in the therapeutic bladder to maintain the therapeutic bladder in position with respect to a target compression zone on a body part on which the garment is worn. The baseline pressure is adjusted in response to sensed physical characteristics.

Abstract: Apparatus for disabled persons, comprising a skid which optionally may be equipped with wheels, to which skid is connected a device for tightening the user's knees.

Abstract: Described is a method of administering nor-binaltorphimine (nor-BNI) or a nor-BNI analog to an individual having Attention Deficit/Hyperactivity Disorder (ADHD) to thereby reduce the effects of ADHD in the individual.

Abstract: The invention relates to a shoulder mechanism for an orthosis comprising in succession: a first element (1) that is stationary relative to the user; a second element (2) that is hinged to the first element about a first hinge axis (A1); a third element (3) that is hinged to the second element about a second hinge axis (A2); and an upper arm (4) that is hinged to the third element about a third hinge axis (A3). According to the invention, the hinge axes (A1, A2, A3) extend in directions that define a frame of reference that is non-orthogonal.

Abstract: A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists' experiences into the apparatus to simulate therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm having first to eighth arm segments, and a high-precision control system for controlling movements of the multi-axis robotic arm. The control system provides an active, a passive and an auxiliary mode; receives and computes information about a patient's movements and muscle force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses.

Abstract: An apparatus simulates motion in a virtual environment. The apparatus has a constraining structure mechanically coupled to an adjustable user support system. Rotational movement of the human user is accommodated by rotation of the adjustable user support system within the constraining structure. A stationary friction reducing platform is proximate the constraining structure. A foot platform is configured to be worn on a foot of a human user. The foot platform is configured to engage the stationary friction reducing platform to simulate motion. A motion simulating device is proximate a foot of the human user. The motion simulating device is communicatively coupled to an electronic foot speed measurement device and an electronic measurement device. A measurement system communicatively coupled to the electronic measurement device and the electronic foot speed measurement device. The adjustable user support system is a user support and belt system.

Abstract: A device and method for assisting a user to articulate a limb. The device has an upper section, a lower section, and at least one joint between the upper and lower section. The device comprises an exoskeleton with a first cuff coupled to the lower section of the user's limb, a second cuff coupled to the upper section of the user's limb and a third cuff coupled to a portion of the user's body above the upper section of the limb. At least one cable is attached to the first cuff and at least one cable is attached to the second cuff. A series of drivers located remotely from the exoskeleton are attached to cables and are connected to a processor. The processor transmits signals to the drivers to vary the lengths of the cables to guide articulation of the user's limb.

Abstract: A walking assist device evaluates the degree of asymmetry between a left motion oscillator, which is a waveform signal indicative of the time-dependent change form of an output of a left hip joint angle sensor, and a right motion oscillator, which is a waveform signal indicative of the time-dependent change form of an output of a right hip joint angle sensor. In order to reduce the degree of asymmetry, the value of at least one of a left bending coefficient, a left stretching coefficient, a right bending coefficient, and a right stretching coefficient is adjusted.

Abstract: A ski training device includes a frame and two sets of rollers mounted side-by-side on axles on the frame. The two sets of rollers each define a linear roll path and a roll surface. Each roll path has a rearward portion, a central portion, and a forward portion, and the two roll paths are substantially parallel. Each roll surface similarly has a rearward portion, a central portion, and a forward portion, and the rearward and forward portions of each roll surface are higher than their respective central portions when the ski training device is positioned on a flat, level surface. Each roll surface accordingly arcs or slopes upward as one moves forward or rearward along the roll path from its center, thus helping to keep a skier centered over the rollers when training.

Abstract: A stretching and exercise device has a first strap member having a pair of end portions, a second strap member having a pair of end portions, and a pair of resistance members connected between respective end portions of the first and second strap members. A third strap member has a pair of end portions attached to respective first and second surface portions of the second strap member. A fourth strap member is attached to a third surface portion of the second strap member different from the first and second surface portions thereof.

Abstract: A system for arm therapy comprises a first drive (M2) that can be fixedly connected to an element (10) determining the position of a user (19) and rotationally driving, about a first axis (A2), a part (21, 22, 23, 24, 25, M1, 26) of the arm therapy system which can be connected to an upper arm module (26, M3, M4). The driven part of the arm therapy system comprises a second drive (M1) adapted to rotationally drive said upper arm module (26, M3, M4) about a second axis (A1), wherein said second axis (A1) is oriented orthogonal to the first axis (A2). The system can provide a statically determined exoskeleton with correct anatomical axes and misaligned technical axes.

Abstract: An apparatus of muscle and/or joint exercise adapted to reeducation and/or physical conditioning of a body part of a user, including a hollow body; a mobile member translatable inside the body; a motor-driven means arranged on the bottom of the body and adapted for driving and decelerating in displacement the mobile member in both translatory directions; a cooperating means between the body and a frame, this cooperating means being arranged on the bottom of the body and including: at least one hinge of the body on the frame, the hinge providing at least at least one degree of rotational freedom for the body around an axis of rotation; and a removable means for installing and removing the body, the removable means being designed for removably installing the body on a base slidingly mounted in the frame.

Abstract: A wearable type movement assisting apparatus includes a movement assisting glove including a finger insertion part into which a finger of a wearer is inserted, a driving part arranged on a backhand side of the movement assisting glove and configured to drive the finger insertion part, a linear member arranged along the finger insertion part and configured to transmit a driving force of the driving part to the finger insertion part, a biosignal detection part configured to detect a biosignal that causes the finger of the wearer to move, and a control part configured to output a drive control signal to the driving part based on the biosignal detected by the biosignal detection part. The driving part is configured to move the linear member in an extending direction or a bending direction of the finger insertion part based on the drive control signal from the control part.

Abstract: An actuator (10) includes a body (12), an output member (14) slidably received in the body (12) along— a first axis (X1), an electric motor (18) arranged to set into rotation a motor shaft (20) about a, second axis (X2) and a motion conversion mechanism (22) for converting the rotary motion produced by the electric motor (18) about the second axis (X2) into a translational motion of the output member (14) along the first axis (X1). The motion conversion mechanism (22) includes a driving pulley (24) which is drivingly connected for rotation with the motor shaft (20) and an elongated mechanical transmission member which is wound onto the driving pulley (24) and is fastened at its two opposite ends to the output member (14) to draw this latter in either direction along the first axis (X1) as a result of the rotation of the driving pulley (24) in either direction. The output member (14) is shaped as a rod and is received in a cylindrical cavity (16) of the body (12) so as to project partially therefrom.

Abstract: A fitness equipment for use in hip lift and treading, including a casing. The casing has therein a power source. The power source is a motor. A center axle of the motor rotates to drive a transmission shaft. The transmission shaft drives first and second independent shafts to rotate. Rotational mechanical energy of the first and second independent shafts is transmitted to first, second, third and fourth eccentric blocks, such that first, second, third and fourth spindles, first and second U-shaped supports, and first and second rests together move vertically and alternately along an elliptic track so as for a user standing on the first and second rests to tread and for the user sitting on the first and second rests to perform hip lift.

Abstract: The present invention relates to a wearable robot system for rehabilitation training of the upper limbs that has an improved structure to reproduce in detail motion of a human body by selecting a wearing type structure such that robot links move correspondingly to the motion of the upper limbs while decreasing the volume of a rehabilitation and assistance device based on a robot for rehabilitation training of the upper limbs. According the present invention, it is possible to decrease the volume and increase the available space, in addition to creating smooth motion without interfering with the human body by creating a plurality of robot motion paths and selecting the best path from them, because an operation of four degrees of freedom can be achieved by an operation procedure using redundant.

Abstract: An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

Abstract: Second joints are provided in positions where a seating unit is restrained from swinging relative to leg links due to a force acting on the seating unit from upper limb links through the intermediary of the second joints. A motion not intended by a user can be restrained from being generated due to a force acting from the upper limb links provided in the upper limbs.

Abstract: Systems and methods for use with haptic devices. A control system for haptic devices determines a first course of action based on a user's motion. Prior to implementing the first course of action, the control system determines if the first course of action would lead to instability in the haptic device which could cause an unsafe situation such as failure of its components. If the first course of action would lead to instability, the control device determines a second course of action that would not lead to instability and implements this second course of action. To assist in this second course of action and to prevent potential oscillation in the haptic device, the control system also selectively dampens a projected action of the haptic device. A haptic device using such a control system is also disclosed.

Abstract: The appliance designed to allow a living being to perceive sensations of virtual movements of part of his body comprises a control unit in which is stored a table containing a first plurality of basic excitation signals, a second plurality of macro-motifs each formed by a third plurality proper of the basic signals, a sequencer reading the macro-motifs in order to emit a second plurality of corresponding commands for excitation, each time, of a third plurality proper of vibrators selected from among a first plurality of vibrators carried by a coupling support in predetermined respective zones of the part of the body, the excitation of the third plurality proper of vibrators by the second plurality of commands being intended to mechanically stimulate elements of the body, to provoke the creation of bioelectrical signals in the living being, allowing him to perceive sensations of a given virtual movement.

Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

Abstract: A rotary actuator and a method of providing kinesthesia using a magnetorheological fluid are provided. The method includes generating a solenoid which generates a magnetic field, thereby forming flux lines, in response to a current being applied thereto. A cylindrical rotor surrounds inner, outer and top surfaces of the solenoid, is freely rotatable about a rotary shaft disposed in an opened central portion thereof A cylindrical housing surrounds inner, outer and bottom surfaces of the solenoid, and engages with the rotor. The magnetorheological fluid is disposed inside gaps among the solenoid, the rotor and the housing, and generates magnetic chains along the flux lines in response to the magnetic field. The thickness of walls of the rotor which surround the inner and outer surfaces of the solenoid decreases in the top-to-bottom direction. A space having a predetermined width is defined around the rotary shaft.

Abstract: A treadmill for providing walking rehabilitation to a rehabilitee is provided. The treadmill includes a base including a belt, a motor interconnected with the belt, and a walking rehabilitation device interconnected with the base. The motor causes the belt to rotate in a first direction. The walking rehabilitation device includes a user engagement structure configured to be removably secured to one or more locations of a rehabilitee's extremities. The walking rehabilitation device further includes a transmission interconnecting the motor and the user engagement structure, the transmission transferring motion from the motor to the rehabilitee via the user engagement structure, allowing the rehabilitee to walk along the belt.

Abstract: An orthosis for stretching tissue around a joint of a patient between first and second relatively pivotable body portions. The orthosis includes a first arm member affixable to the first body portion and including a first extension member extending therefrom. A second arm member affixable to the second body portion is also included and has a second extension member having an arcuate shape extending therefrom. A third arm member including a third extension member having an arcuate shape extending therefrom is interposed between the first and second arm members. The third extension member is slidably connected to the first arm member and the second extension member is operatively connected to the third arm members, such that the second arm members travel along an arcuate path defined by the second extension member when the second arm member is moved from a first position to a second position relative to the first and third arm members.

Abstract: A simple, lightweight, portable, lumbar spinal distraction device is provided which employs a frame having concave left and right hand upper leg contacting members for asserting forces against substantially vertically oriented left and right upper leg portions of a user assuming a substantially horizontal position. The user pushes the portable frame forward by manually grasping a pair of handles, causing the left and right contacting members to press against the vertically oriented left and right upper leg portions respectively. Increased unilateral traction ability is produced by simply having the user apply extra force to one handle or the other. This will permit users suffering from unilateral pain in the buttocks, hip or leg to obtain a little extra pressure on the symptomatic side. Anyone who has suffered low back pain can relate to the fact that some days the pain feels more right sided and some days more left sided.

Abstract: A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

Abstract: A method for gait rehabilitation, comprising, identifying at least one deficient gait element; exercising said deficient gait element individually using a rehabilitation apparatus; and exercising said deficient gait element in concert with at least one other gait element using said rehabilitation apparatus.

Abstract: An apparatus for passive extension and flexion of at least one finger of a patient with an upper arm unit, a lower arm unit, and at least one connective line. The apparatus is configured such that elbow extension of the patient promotes finger flexion. This is accomplished by taking advantage of the geometry of the arm, where the distance from a point on the patient's humeral area to the patient's fingers is greater when the patient's arm is in extension than when it is in flexion. In one aspect, the upper arm unit is configured to connect to a portion of the patient's arm between the patient's elbow and shoulder and the lower arm unit is configured to connect to a portion of the patient's arm intermediate the patient's hand and elbow.

Abstract: Disclosed herein are an apparatus and method for controlling smart wear. The apparatus for controlling smart wear includes a motion capture unit, an error information unit, a motion estimation unit, and an actuation unit. The motion capture unit captures a motion of a user using sensors included in the smart wear. Then error information unit generates user error information using reference motion information and the results of the motion capture. The motion estimation unit estimates a subsequent motion of the user using the user error information. The actuation unit controls the smart wear of the user in real time using the estimated subsequent motion and the user error information.

Abstract: A traction apparatus which impresses a desired traction force to a body to be pulled is provided.

Abstract: A hand and wrist restorer and method of use having a cuff which is capable of grasping a portion of the outer skin of a limb and securing the fascia tissue thereunder together with a support which allows a user to provide a distal force upon the limb while rotating or moving the distal portion of the limb whereby a stretch of the fascia tissue occurs.

Abstract: A biomedical device (1) for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint, includes a first rigid rod (2) and a second rigid rod (3), both of which can be associated with the upper limb (4) of a patient (5) and are articulated to each other at two adjacent ends (2a, 3a) thereof by way of a first universal joint (6) which can be arranged proximate to the elbow joint (7) of the upper limb (4).