Self-supported device for guiding motions of a passive target system

A self-supported device for guiding motions of a target joint of a target body, the device comprising:

• a base structure;
• a motion generator connected to the base structure, the motion generator comprising a network of joints and linkages, the base structure rigidly supporting the motion generator;
• a motion transfer system comprising at least two rotary joints, wherein axes of rotation of the at least two rotary joints are not parallel;
• a load bearing system connected to the base structure, the load bearing system comprising a structure that includes at least a moving plate connected to the motion transfer system, and a network of joints and links of the load bearing system configured to constrain and/or actuate the plate to rotate about a center of rotation of the load bearing system, the structure of the load bearing system being configured to support structural loads and transfer the structural loads through the device, the network of joints and links of the load bearing system comprising at least two joints which are selected from either at least two rotary joints, or a curvilinear joint and at least one rotary joint, wherein the axes of the at least two joints intersect at a center of rotation, and the network of joints and links further comprising a first link connected to the base structure and a second link of the network of links, the second link is connected to the first link via one of the at least two joints and is connected to a third link of the network of links via another of the at least two joints;
• and the third link of the network of links is connected to the moving plate;
• and
• a target interface system connected to the moving plate of the load bearing system and configured to be mounted to the target body;
• wherein the motion transfer system is connected to the motion generator at one end, and to the load bearing system at an opposite end, and wherein the center of rotation of the load bearing system approximately corresponding to a center of rotation of the target joint of the target body;
• and wherein the moving plate of the load bearing system rotates with two DOFs about the center of rotation of the load bearing system.