Wearable Head-Neck Traction Braces with Two End-Effector Degrees-of-Freedom

A head-neck traction brace comprising:

• a base frame configured to be supported by a subject's shoulders;
• an end-effector frame configured so that it can be removably attached to the subject's head;
• and
• three chains of joints, each of which has a lower revolute joint connected to the base frame followed by a prismatic joint followed by universal joint followed by an upper revolute joint connected to the end-effector frame.

A head-neck traction brace comprising:

• a base frame configured to be supported by a subject's shoulders;
• an end-effector frame configured so that it can be removably attached to the subject's head;
• and
• four chains of joints, each of which has a lower revolute joint that is mounted to the base frame followed by a middle revolute joint followed by a universal joint followed by an upper revolute joint that is mounted to the end-effector frame.

A head-neck traction brace comprising:

• a base frame configured to be supported by a subject's shoulders;
• an end-effector frame configured so that it can be removably attached to the subject's head;
• and
• four chains of joints, each of which has a respective first end connected to the base frame and a respective second end connected to the end-effector frame,
• wherein each of the four chains of joints has either (a) a lower revolute joint followed by a prismatic joint followed by a universal joint followed by an upper revolute joint or (b) a lower revolute joint followed by a middle revolute joint followed by a universal joint followed by an upper revolute joint.