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An upper body appendage support apparatus having an articulating parallelogram support structure connected to an articulating upper body appendage support structure, the latter accommodating a user's forearm, wrist, and/or heel-of-hand. The apparatus analogously jointed to the human arm and moving s

An upper body appendage support apparatus having an articulating parallelogram support structure connected to an articulating upper body appendage support structure, the latter accommodating a user's forearm, wrist, and/or heel-of-hand. The apparatus analogously jointed to the human arm and moving synchronously therewith.

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1. An upper body appendage support apparatus comprising: at least one articulated support structure having;a plurality of segments pivotally connected in series by pan pivots;wherein at least one of the segments of the plurality of segments is a parallelogram segment having a resilient mechanism tha

1. An upper body appendage support apparatus comprising: at least one articulated support structure having;a plurality of segments pivotally connected in series by pan pivots;wherein at least one of the segments of the plurality of segments is a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the at least one of the segments of the plurality of arm segments upwardly in a lifting plane;an upper body appendage support structure pivotably attached to the articulating support structure;the upper body appendage support structure comprising;an upper body appendage rest, the rest having a first section configured to support a forearm and a second section configured to support an appendage portion below the forearm;the first and second sections of the upper body appendage rest, each comprising a curved surface of sufficient size and shape to support a user's forearm and an appendage portion below the forearm, respectively, without the user grasping either section of the rest with the user's hand, thereby leaving the hand free to grasp an object, wherein the surfaces are free from obstructions that would prohibit use of the hand to grasp an object;one or both of the first and second sections having;a roll mechanism connected to the upper body appendage rest for rotation about an axis substantially parallel to a user's arm to allow rotation of upper body appendages without lifting from, or sliding on upper body appendage support structure resting surface; anda roll mechanism functionally connected to the first section and a roll mechanism functionally connected to the second section, wherein the axes of rotation of the roll mechanisms are in line with one another. 2. An upper body appendage support apparatus comprising at least one articulated support structure having at least one parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;an upper body appendage support structure pivotally attached to the articulating support structure;the upper body appendage support structure comprising;a first section having a first upper body appendage rest, the rest having a surface on which a first portion of an upper body appendage can rest; anda second section having a second upper body appendage rest, the rest having a surface on which a second portion of an upper body appendage can rest;wherein the first or second sections of the upper body appendage rest each comprises a curved surface of sufficient size and shape to support a user's first portion of an upper body appendage and a user's second portion of an upper body appendage, respectively, without the user grasping the rest with the user's hand, thereby leaving the hand free to grasp an object, wherein the surfaces are free from obstructions that would prohibit use of the hand to grasp an object;wherein the upper body appendage support structure is pivotally connected to the articulated support structure at a first pivot to provide rotation of the upper body appendage support structure about an axis to provide tilt motion of the upper body appendage support structure; andone or more roll mechanisms connected to the upper body appendage rest for rotation about an axis substantially parallel to a user's arm to allow rotation of upper body appendages without lifting from, or sliding on upper body appendage support structure resting surface;wherein the upper body appendage support structure is further pivotally connected to the articulating support structure at a second pivot to provide rotation of the upper body appendage support structure about an axis to provide pan motion of the upper body appendage support structure. 3. An upper body appendage support apparatus comprising at least one articulated support structure;an upper body appendage support structure movably attached to the articulating support structure;the upper body appendage support structure comprising;a first section configured to accommodate a first arm portion;a second section configured to accommodate a second arm portion below the first arm portion;one or more roll mechanisms to allow rotation of upper body appendages without lifting from, or sliding on upper body appendage support structure resting surface;wherein at least one of the roll mechanisms comprises:a roll track having a curved track;one or more track rollers configured to roll on the track to impart rotational capabilities to the resting surface; anda surface on which at least a portion of an upper body appendage can rest;wherein the upper body appendage support structure is pivotally connected to the articulated support structure at a first pivot to provide rotation of the upper body appendage support structure about an axis to provide tilt motion of the upper body appendage support structure;wherein the upper body appendage support structure is further pivotally connected to the articulating support structure at a second pivot to provide rotation of the upper body appendage support structure about an axis to provide pan motion of the upper body appendage support structure; andwherein the articulated support structure counteracts the weight of the upper body appendage support structure and any weight thereon by providing a lifting force. 4. An upper body appendage support apparatus comprising at least one articulated support structure having:a plurality of segments pivotally connected in series by pan pivots;wherein at least one of the segments of the plurality of segments is a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the at least one of the segments of the plurality of segments upwardly in a lifting plane;an upper body appendage support structure movably attached to the articulating support structure;the upper body appendage support structure comprising;an upper body appendage rest, the rest comprising a curved surface of sufficient size and shape to support a user's forearm without the user grasping the rest with the user's hand, thereby leaving the hand free to grasp an object, wherein the surface is free from obstructions that would prohibit use of the hand to grasp an object;the upper body appendage support structure pivotally connected to the articulated support structure by a single tilt pivot positioned to one side of the upper body appendage support structure;the upper body appendage support structure further pivotally connected to the articulating support structure at a pan pivot, wherein the pan pivot is positioned to the one side of the upper body appendage support structure on which the tilt pivot is positioned. 5. The upper body appendage support apparatus of claim 4 wherein axes of rotation of the pan pivot and tilt pivot intersect. 6. The upper body appendage support apparatus of claim 4 wherein the upper body appendage rest surface is concave. 7. The upper body appendage support apparatus of claim 4 wherein the upper body appendage rest surface is semi-cylindrical. 8. An upper body appendage support apparatus comprising: an articulated support structure comprising: a first segment;a second segment;a third segment;the first segment, second segment and third segment pivotally connected in series;the first segment connected to the second segment by a first pan pivot;the second segment further connected to the third segment by a second pan pivot;at least one of the first, second and third segments being a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;an upper body appendage support structure having an upper body appendage rest, the rest comprising a curved, surface of sufficient size and shape to support a user's forearm without the user grasping the rest with the user's hand, thereby leaving the hand free to grasp an object, wherein the surface is free from obstructions that would prohibit use of the hand to grasp an object;a tilt pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot, the tilt pivot disposed at a level at, or above the curved, rest surface;a third pan pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot, the third pan pivot disposed adjacent to the upper body appendage rest; andwherein rotation about the first pan pivot, second pan pivot and third pan pivot is in a plane substantially perpendicular to the lifting plane. 9. The support apparatus of claim 8 comprising a mounting component attached to the articulating support structure at an end opposing the upper body appendage rest for mounting the apparatus to a support. 10. The support apparatus of claim 9 wherein the apparatus is mounted to a harness that can be worn by a user. 11. The support apparatus of claim 8 comprising at least one biased hinge attached to at least one of the first, second or third segments and further attached to one of the other first, second or third segments or a support for biasing the articulating support structure in a plane substantially perpendicular to a lifting plane of the articulating support structure. 12. A chair comprising a support structure according to claim 8 operatively connected thereto. 13. A table comprising a support structure according to claim 8 operatively connected thereto. 14. A method of performing a task comprising: providing a support structure according to claim 8;placing an upper body appendage on the resting surface having the hand thereof free to perform a task. 15. An upper body appendage support apparatus comprising: an articulating support structure comprising:at least two segments connected in series;the at least two segments including a first segment and a second segment, the first segment connected to the second segment by a first pan pivot;at least one segment of the at least two segments having a resilient mechanism providing a dynamic lifting force to bias the at least one segment of the at least two segments upwardly in a lifting plane;an upper body appendage support structure having an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;the upper body appendage support structure pivotally connected to the first segment of the articulated support structure by a tilt pivot at a tilt pivot point on the upper body appendage support structure;a plurality of tilt pivot connection locations to selectively connect the location of the tilt pivot with respect to the upper body appendage support structure;a roll mechanism attached to the upper body appendage rest;the roll mechanism comprising:a track engaged with complimentary roll mechanism components and having a roll motion axis substantially parallel to the user's forearm; anda mounting component attached to the articulating support structure at an end opposing the upper body appendage support structure. 16. The support structure of claim 15 wherein: the upper body support structure comprises a first section configured to accommodate a first arm portion and a second separate section configured to accommodate a second arm portion below the first arm portion wherein the first and second arm portions are jointed to one another. 17. An upper body appendage support apparatus comprising: an articulated support structure comprising: a first segment;a second segment;a third segment;the first segment, second segment and third segment pivotally connected in series;the first segment connected to the second segment by a first pan pivot;the second segment further connected to the third segment by a second pan pivot;at least one of the first, second and third segments being a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;at least one of the first, second and third segments having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;an upper body appendage support structure having an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;a tilt pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot;a third pan pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot, the third pan pivot disposed adjacent to the upper body appendage rest; andwherein rotation about the first pan pivot, second pan pivot and third pan pivot is in a plane substantially perpendicular to the lifting plane; anda docking mechanism comprising a first docking component attached to the articulated support structure, the first docking component engageable with a stationary second docking component to restrain an upward bias of the first segment of the articulating support structure. 18. An upper body appendage support apparatus comprising: an articulated support structure comprising: a first segment;a second segment;a third segment;the first segment, second segment and third segment pivotally connected in series;the first segment connected to the second segment by a first pan pivot;the second segment further connected to the third segment by a second pan pivot;at least one of the first, second and third segments having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;an upper body appendage support structure having an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;a tilt pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot;a third pan pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot, the third pan pivot disposed adjacent to the upper body appendage rest; andwherein rotation about the first pan pivot, second pan pivot and third pan pivot is in a plane substantially perpendicular to the lifting plane; anda plurality of tilt pivot connection locations to selectively connect the location of the tilt pivot with respect to the upper body appendage support structure. 19. The support apparatus of claim 18 wherein the tilt pivot connection location can be adjusted substantially vertically. 20. The support apparatus of claim 18 wherein the tilt pivot connection location can be adjusted substantially horizontally. 21. An upper body appendage support apparatus comprising: an articulated support structure comprising: a first segment;a second segment;a third segment;the first segment, second segment and third segment pivotally connected in series;the first segment connected to the second segment by a first pan pivot;the second segment further connected to the third segment by a second pan pivot;at least one of the first, second and third segments having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;an upper body appendage support structure having an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;a tilt pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot;a third pan pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot, the third pan pivot disposed adjacent to the upper body appendage rest; andwherein rotation about the first pan pivot, second pan pivot and third pan pivot is in a plane substantially perpendicular to the lifting plane; wherein the upper body appendage rest and the associated surface comprises a first section on which a first arm portion can rest and a second separate section, pivotably attached to the first section, on which a second arm portion below the first arm portion can rest wherein the first and second arm portions are jointed to one another; one or more roll mechanisms connected to the upper body appendage rest for rotation about an axis substantially in line with a user's arm to allow rotation of upper body appendages without lifting from, or sliding on upper body appendage support structure resting surface; andwherein at least one of the roll mechanisms comprises:a roll track having a curved track; andone or more track rollers configured to roll on the track to impart rotational capabilities to the resting surface. 22. An upper body appendage support apparatus comprising at least one articulated support structure having:a plurality of segments pivotally connected in series by pan pivots;wherein at least one of the segments of the plurality of segments is a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the at least one of the segments of the plurality of segments upwardly in a lifting plane;an upper body appendage support structure movably attached to the articulating support structure;the upper body appendage support structure comprising; an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;wherein the upper body appendage support structure is pivotally connected to the articulated support structure at a tilt pivot;wherein the upper body appendage support structure is further pivotally connected to the articulating support structure at a pan pivot, wherein the pan pivot is displaced to the side of the upper body appendage support structure; anda docking mechanism comprising a first docking component attached to the articulated support structure, the first docking component engageable with a stationary second docking component to restrain an upward bias of the first segment of the articulated support structure. 23. An upper body appendage support apparatus comprising at least one articulated support structure having:a plurality of segments pivotally connected in series by pan pivots;wherein at least one of the segments of the plurality of segments is a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the at least one of the segments of the plurality of segments upwardly in a lifting plane;an upper body appendage support structure movably attached to the articulating support structure;the upper body appendage support structure comprising;an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;wherein the upper body appendage support structure is pivotally connected to the articulated support structure at a tilt pivot;wherein the upper body appendage support structure is further pivotally connected to the articulating support structure at a pan pivot, wherein the pan pivot is displaced to the side of the upper body appendage support structure; anda plurality of tilt pivot connection locations to selectively connect the location of the tilt pivot with respect to the upper body appendage support structure. 24. An upper body appendage support apparatus comprising: an articulated support structure comprising: a first segment;a second segment;a third segment;the first segment, second segment and third segment pivotally connected in series;the first segment connected to the second segment by a first pan pivot;the second segment further connected to the third segment by a second pan pivot;at least one of the first, second and third segments being a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the segment upwardly in a lifting plane;an upper body appendage support structure having an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;a tilt pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot;a third pan pivot connecting the upper body appendage support structure to the first segment at an end of the first segment opposing the first pan pivot, the third pan pivot disposed adjacent to the upper body appendage rest; andwherein rotation about the first pan pivot, second pan pivot and third pan pivot is in a plane substantially perpendicular to the lifting plane; andthe upper body appendage rest and the associated surface comprises a first section on which a first arm portion can rest and a second separate section, pivotably attached to the first section on which a second arm portion below the first arm portion can rest wherein the first and second arm portions are jointed to one another. 25. The support apparatus of claim 24 wherein the second section of the upper body appendage support is pivotally attached to the articulated support structure. 26. The support apparatus of claim 24, further comprising one or more roll mechanisms connected to the upper body appendage rest for rotation about an axis substantially in line with a user's arm to allow rotation of upper body appendages without lifting from, or sliding on upper body appendage support structure resting surface. 27. The support apparatus of claim 26 comprising a roll mechanism functionally connected to the first section and a roll mechanism functionally connected to the second section, wherein the axes of rotation of the roll mechanisms are in line with one another. 28. The support apparatus of claim 26 wherein the roll mechanism provides a degree of rotation of the resting surface is in the range of about 20° to about 30°. 29. An upper body appendage support apparatus comprising at least one articulated support structure having:a plurality of segments pivotally connected in series by pan pivots;wherein at least one of the segments of the plurality of segments is a parallelogram segment having a resilient mechanism that provides a dynamic lifting force that biases the at least one of the segments of the plurality of segments upwardly in a lifting plane;an upper body appendage support structure movably attached to the articulating support structure;the upper body appendage support structure comprising;an upper body appendage rest, the rest having a surface on which at least a portion of an upper body appendage can rest;wherein the upper body appendage support structure is pivotally connected to the articulated support structure at a tilt pivot;wherein the upper body appendage support structure is further pivotally connected to the articulating support structure at a pan pivot, wherein the pan pivot is displaced to the side of the upper body appendage support structure; andwherein at least one of the roll mechanisms comprises:a roll track having a curved track;one or more track rollers configured to roll on the track to impart rotational capabilities to the resting surface.