Upper limb motion support apparatus and upper limb motion support system

An upper limb motion support apparatus mounted on a table for supporting upper limb motion of an operator,

• the upper limb motion support apparatus comprising:
• a support that is secured and retained on the table in a freely attachable and detachable manner and supports a main body of the apparatus;
• an articulated arm having multiple degrees of freedom, wherein a fixed end side of the articulated arm is coupled to the support and a free end side of the articulated arm is coupled to an end effector;
• an imaging unit that is provided at least one of the support, the articulated arm, and the end effector and captures images of a surrounding environment including the operator when it is used;
• an upper limb motion recognition unit that recognizes the upper limb motion of the operator included in the surrounding environment whose images are captured by the imaging unit;
• a biological signal detection unit that detects electric potential as a biological signal generated in association with the upper limb motion of the operator;
• a controller that causes the articulated arm and the end effector to perform three-dimensional motion according to an intention of the operator on the basis of the biological signal acquired by the biological signal detection unit;
• and
• a sight line detection unit that executes processing for recognizing a face image of the operator which is captured by the imaging unit and detects a line of sight of the operator,
• wherein the controller causes the articulated arm and the end effector to perform the cooperative motion in conjunction with the upper limb motion of the operator while appropriately controlling the articulated arm and the end effector so that the imagining unit captures images of the operator's face and an extended end of the operator's line of sight alternately at desired switching timing, and
• wherein the controller causes the articulated arm and the end effector to perform cooperative motion in conjunction with the upper limb motion of the operator while referring to content recognized by the upper limb motion recognition unit.