Wearable robotic upper body garment

A method for actively controlling an upper extremity of a user, comprising:

• providing an upper-body apparatus comprising:
• a shoulder saddle wherein said shoulder saddle is comprised of a yoke and a first elevated shoulder section;
• a back torso section structurally connected to said yoke;
• a front torso section structurally connected to said yoke;
• a torso wrap structurally connected to said back torso section and capable of structural connection with said front torso section, wherein the torso wrap is comprised of two or more components;
• one or more actuators each structurally connected to either said back torso section or front torso section wherein each of said one or more actuators are comprised of one or more motors;
• one or more flexible tendons operationally connected to a predetermined one of said one or more actuators, wherein said one or more flexible tendons is comprised of a first flexible tendon, a second flexible tendon, a third flexible tendon, and a fourth flexible tendon;
• an upper arm cuff in operational relationship with said one or more flexible tendons;
• a lower arm cuff in operational relationship with said one or more flexible tendons;
• wherein said first flexible tendon is routed from said one or more motors to said first elevated shoulder section at a first predetermined position on said first elevated shoulder section, wherein said first flexible tendon is connected to said upper arm cuff at a first predetermined termination point,
• wherein said second flexible tendon is operationally connected to said one or more motors and routed from said one or more motors to said first elevated shoulder section at a second predetermined position on said first elevated shoulder section, wherein said second flexible tendon is connected to said upper arm cuff at a second predetermined termination point,
• wherein said third flexible tendon is routed from said one or more motors to said first elevated shoulder section at a third predetermined position on said first elevated shoulder section, wherein said third flexible tendon is connected to said upper arm cuff at a third predetermined termination point,
• wherein said fourth flexible tendon is routed from said one or more motors and is connected to said upper arm cuff at a fourth predetermined termination point, and
• wherein said first flexible tendon, said second flexible tendon, said third flexible tendon, and said fourth flexible tendon are configured to effectuate shoulder movement of the user,
• wherein said upper arm cuff includes an anterior section, a lateral section, a medial section, and a posterior section,
• wherein said first predetermined position is located on an anterior side of said first elevated shoulder section, said second predetermined position is located on a lateral side of said first elevated shoulder section, and said third predetermined position is located on a posterior side of said first elevated shoulder section,
• wherein said first predetermined termination point is located on said anterior section of said upper arm cuff,
• wherein said second predetermined termination point is located on said lateral section of said upper arm cuff,
• wherein said third predetermined termination point is located on said posterior section of said upper arm cuff, and
• wherein said fourth predetermined termination point is located on said medial section of said upper arm cuff;
• donning said upper body apparatus on said user;
• moving said first flexible tendon and said third flexible tendon in combination to move a shoulder of said user of the upper body apparatus in a shoulder flexion movement and a shoulder extension movement;
• and
• moving said second flexible tendon and said fourth flexible tendon in combination to move the shoulder of the user of the upper body apparatus in a shoulder abduction movement and a shoulder adduction movement.

An upper-body apparatus comprising:

• a shoulder saddle wherein said shoulder saddle is comprised of a yoke and one or more elevated shoulder sections, wherein said one or more elevated shoulder sections is comprised of a first elevated shoulder section;
• a back torso section structurally connected to said yoke;
• a front torso section structurally connected to said yoke;
• one or more actuators each structurally connected to either said back torso section or front torso section wherein each of said one or more actuators are comprised of one or more motors;
• one or more flexible tendons operationally connected to a predetermined one of said one or more actuators, wherein said one or more flexible tendons is comprised of a first flexible tendon, a second flexible tendon, a third flexible tendon, and a fourth flexible tendon;
• an upper arm cuff in operational relationship with said one or more flexible tendons;
• a lower arm cuff in operational relationship with said one or more flexible tendons;
• wherein said first flexible tendon is routed from said one or more motors to said first elevated shoulder section at a first predetermined position on said first elevated shoulder section, wherein said first flexible tendon is connected to said upper arm cuff at a first predetermined termination point,
• wherein said second flexible tendon is operationally connected to said one or more motors and routed from said one or more motors to said first elevated shoulder section at a second predetermined position on said first elevated shoulder section, wherein said second flexible tendon is connected to said upper arm cuff at a second predetermined termination point,
• wherein said third flexible tendon is routed from said one or more motors to said first elevated shoulder section at a third predetermined position on said first elevated shoulder section, wherein said third flexible tendon is connected to said upper arm cuff at a third predetermined termination point,
• wherein said fourth flexible tendon is routed from said one or more motors and is connected to said upper arm cuff at a fourth predetermined termination point,
• wherein said first flexible tendon, said second flexible tendon, said third flexible tendon, and said fourth flexible tendon are configured to effectuate shoulder movement of the user,
• wherein said upper arm cuff includes an anterior section, a lateral section, a medial section, and a posterior section,
• wherein said first predetermined position is located on an anterior side of said first elevated shoulder section, said second predetermined position is located on a lateral side of said first elevated shoulder section, and said third predetermined position is located on a posterior side of said first elevated shoulder section,
• wherein said first predetermined termination point is located on said anterior section of said upper arm cuff,
• wherein said second predetermined termination point is located on said lateral section of said upper arm cuff,
• wherein said third predetermined termination point is located on said posterior section of said upper arm cuff,
• wherein said fourth predetermined termination point is located on said medial section of said upper arm cuff,
• wherein said first flexible tendon and said third flexible tendon in combination are configured to move a shoulder of said user of the upper body apparatus in a shoulder flexion movement and a shoulder extension movement, and
• wherein said second flexible tendon and said fourth flexible tendon in combination are configured to move the shoulder of the user of the upper body apparatus in a shoulder abduction movement and a shoulder adduction movement.