Arm supporting exoskeleton with a variable force generator

An arm supporting exoskeleton configured to be coupled to a person to reduce the shoulder forces required to raise the upper arm of the person, the arm supporting exoskeleton comprising:

• a distal link configured to rotate about a first rotational axis oriented substantially orthogonal to a gravity line and configured to cross approximately through a glenohumeral joint of the person;
• at least one torque generator configured to provide a torque profile to the distal link about the first rotational axis thereby producing a supporting force onto the upper arm of the person;
• and
• a bracket,
• wherein a location of the bracket is adjustable along the distal link to adjust an amplitude of the torque profile thereby adjusting the supporting force onto the upper arm of the person.

An arm supporting exoskeleton configured to be coupled to a person to reduce shoulder forces required to raise an upper arm of the person, the arm supporting exoskeleton comprising:

• a proximal link;
• a distal link configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link;
• a torque generator configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person;
• and
• a bracket coupled to one of the proximal link or the distal link,
• wherein a location of the bracket is adjustable to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.