AN EXOSKELETON STRUCTURE FOR PHYSICAL INTERACTION WITH A HUMAN BEING

An exoskeleton robotic device, to be worn on an upper or lower limb, comprising: a base body (120), configured to be fixed substantially integral to a user (10); a first movable body (121), connected to the base body (120) by a first rotational joint (101 ) having a first rotation axis (101 ) substantially orthogonal to the front plane of the user's trunk (155) and passing substantially through the centre (72) of the user's shoulder or hip joint; a second movable body (122), connected to the first movable body (121) by a second rotational joint (102) that has a second rotation axis (102) substantially orthogonal the first rotation axis (101 ) and configured to be incident with the first rotation axis (101) at an intersection point substantially coincident with the centre (72) of the user's shoulder or hip joint;; a third movable body (123), substantially integral to the user's (10) arm or leg and connected to the second movable body (122) by a third rotational joint (103) that has a third rotation axis configured to be substantially parallel to the flexion-extension axis of the user's (10) elbow or knee, substantially orthogonal to the second axis (102) and incident with the second axis (102) at the intersection point substantially coincident with the centre (72) of the user's shoulder or hip joint, wherein the second rotational joint (102) is implemented by the second movable body (122) by means of a remote centre of rotation mechanism that has its own centre at the intersection point (72).; The remote centre of rotation mechanism may comprise a four-bar linkage that comprises two parallelograms whose sides are two-by-two adjacent and are pivotally linked to each other, and are articulated to said first and second movable bodies by means of respective hinges