Upper extremity exoskeleton structure and method

An upper extremity exoskeleton structure for test and exercise comprising:

• a plurality of links, a plurality of revolute joints, and a plurality of measuring-loading blocks wherein each said measuring-loading block having a resistance mechanism, a force sensor, and an angle sensor connected with said links through said revolute joints, and said links jointed to each other by said revolute joints forming a sternoclavicular, a shoulder, an elbow and a wrist modules;
• said sternoclavicular module includes a shouldergirdle harness, two said measuring-loading blocks, two said revolute joints and said links wherein rotation axes of said revolute joints intersect each other at 90-degree angle;
• said shoulder module includes an upper arm harness, three said measuring-loading blocks, three said revolute joints and said links wherein said rotation axes of said revolute joints intersect each other at 90-degree angle;
• said elbow module includes a forearm harness, two said measuring-loading blocks, two said revolute joints and said links wherein said rotation axes of said revolute joints intersect each other at 90-degree angle;
• said wrist module includes a hand harness, two said measuring-loading blocks, two said revolute joints and said links wherein said rotation axes of said revolute joints intersect each other at 90-degree angle;
• a plurality of means to connect said modules with each other forming said exoskeleton structure;
• a plurality of means to compensate anthropometrical differences of the upper extremities between different users;
• a means to secure said exoskeleton structure to a stationary object;
• a plurality of means to counterbalance said exoskeleton structure.