Apparatus capable of actuating a distal joint and transferring the constraining reactions in an underactuated shoulder exoskeleton
Номер патента: EP3989904A1
Опубликовано: 04-05-2022
Автор(ы): Antonio Frisoli, Domenico Chiaradia, Lorenzo Masia, Luca Tiseni, Massimiliano SOLAZZI, Michele XILOYANNIS
Принадлежит: Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna, UNIVERSITAET HEIDELBERG
Опубликовано: 04-05-2022
Автор(ы): Antonio Frisoli, Domenico Chiaradia, Lorenzo Masia, Luca Tiseni, Massimiliano SOLAZZI, Michele XILOYANNIS
Принадлежит: Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna, UNIVERSITAET HEIDELBERG
Реферат: An underactuated mechanism (1), which allows the actuation of a distal degree of freedom of the shoulder joint and the transfer of the torques and the reaction force, generated by the actuation system on the frame (3) integral with the torso (5), through a hyper-redundant kinematic mechanism (200), is formed as follows: a. a first non -actuated rotoidal joint (100) connected to the human torso (5), which rotates about the axis X, b. a connection mechanism (200) connected to the first rotoidal joint (100), c. a second rotoidal joint (300) which (i) rotates about the axis Y arranged according to the degree of flexion-extension of the shoulder joint, which is coplanar with the axis X, (ii) is remotely actuated by a driven pulley and Bowden cables or by a direct drive actuation system with co-located motor, (iii) is fixed to the connection mechanism (200) on one side and to the human arm (6) on the other side, with the connection mechanism (200) consisting of: at least three or more members (210, 220, 231 ), two of which (210, 220) being rigidly fixed to one of the rotoidal joints (100, 300), respectively, all with parallel joints, referred to as minimum joints A and B, arranged so as to connect one member with the next one to form a rotation constraint about the axis of said parallel joints.
Apparatus capable of actuating a distal joint and transferring the constraining reactions in an underactuated shoulder exoskeleton
Номер патента: WO2020261167A1. Автор: Lorenzo Masia,Antonio Frisoli,Massimiliano SOLAZZI,Luca Tiseni,Domenico Chiaradia,Michele XYLOIANNIS. Владелец: Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna. Дата публикации: 2020-12-30.