Device with improved actuating means and method for use thereof

A wearable robot, comprising:

• a main body;
• an arm assembly, said arm assembly comprising:
• a first arm member;
• a first joint connecting the first arm member to the main body;
• a second arm member;
• a second joint connecting the second arm member to the first arm;
• orientation control means for adjusting the orientation of the arm members and/or of the joints of the arm assembly relative to the main body;
• one or more passive actuating means configured for counterbalancing at least a part of the weight of the arm assembly;
• and
• an adjustable lever mechanism arranged between the main body and the arm assembly;
• drive means configured for adjusting the lever arm of the adjustable lever mechanism;
• one or more orientation sensors for determining the orientation of the arm members and/or of the joints of the arm assembly relative to the main body;
• and
• lever arm control means for adjusting the lever arm of the adjustable lever mechanism with the drive means, said adjustment being based on the orientation of the arm members and/or of the joints of the arm assembly determined by the one or more sensors.