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    MODULAR EXOSKELETAL SYSTEM
    1.
    发明申请
    MODULAR EXOSKELETAL SYSTEM 审中-公开

    公开(公告)号：WO2021152523A1

    公开(公告)日：2021-08-05

    申请号：PCT/IB2021/050706

    申请日：2021-01-29

    Applicant: MOV'IT S.R.L. ,  UNIVERSITÀ DEGLI STUDI DI FIRENZE ,  HUMANWARE S.R.L.

    Inventor： SCOGLIO, Andrea ,  CAPPIELLO, Giovanni ,  MAZZOLENI, Stefano ,  RIDOLFI, Alessandro ,  ALLOTTA, Benedetto ,  GELLI, Jonathan ,  BARTALUCCI, Lorenzo ,  BIANCHI, Matteo ,  SECCIANI, Nicola ,  DELLA VALLE, Andrea

    IPC: A61H1/02

    Abstract: A modular exoskeletal system (100) for handling at least one hand finger (10) of a user, said modular exoskeletal system (100) comprising at least one finger exoskeleton (120) comprising n ≥ 1 rotational joints (121) and m ≥ 1 link (125) arranged to rotate by means of respective rotational joints (121), said n ≥ 1 rotational joints (121) comprising a fastening rotational joint (121') arranged to allow the rotation of a fastening link (125') about a rotation axis x, said or each finger exoskeleton (120) arranged to transmit an actuation torque M from the fastening link (125') to the hand finger (10). The modular exoskeletal system (100) also comprises an actuation unit (110) comprising an actuator (111) adapted to generate said actuation torque M, at least one Bowden cable (112) comprising an inner cable (112a) and an outer coating (112b), said or each Bowden cable (112) arranged to transmit the actuation torque M to said or each finger exoskeleton (120), a locking device (113) having at least one opening (113') arranged to constrain the outer coating (112b) of the Bowden cable (112) and to allow the inner cable (112a) to slide. In particular, quick coupling means are also comprised arranged for causing the modular exoskeletal system (100) to reversibly pass between an actuated configuration, wherein the actuation unit (110) is connected to said or each finger exoskeleton (120), and a not actuated configuration, wherein the actuation unit (110) is disconnected by said or each finger exoskeleton (120).

    HAPTIC SYSTEM AND DEVICE FOR MAN -MACHINE INTERACTION
    2.
    发明申请
    HAPTIC SYSTEM AND DEVICE FOR MAN -MACHINE INTERACTION 审中-公开

    公开(公告)号：WO2012114274A3

    公开(公告)日：2012-08-30

    申请号：PCT/IB2012/050792

    申请日：2012-02-21

    Applicant: HUMANWARE S.R.L. ,  SCOGLIO, Andrea ,  CAPPIELLO, Giovanni ,  CURTO, Zoran ,  ROSSI, Andrea ,  AVIZZANO, Carlo Alberto ,  SATLER, Massimo ,  RUFFALDI, Emanuele

    Inventor： SCOGLIO, Andrea ,  CAPPIELLO, Giovanni ,  CURTO, Zoran ,  ROSSI, Andrea ,  AVIZZANO, Carlo Alberto ,  SATLER, Massimo ,  RUFFALDI, Emanuele

    IPC: G06F3/01

    Abstract: A haptic device (100) configured to be used as man-machine interface for interactions in virtual and/or real places, tele-operation and rehabilitation assisted by robot comprises a mobile unit (1) configured to be interfaced with at least one user (3), a control unit (4) associated with the mobile unit (1) and a feeding unit (10). In particular, the mobile unit (1) comprises at least three wheels (13) rotationally spaced from each other; each wheels (13) comprises a rotation axis (13') and has a wheel motor unit (11) independent, such that each wheel motor unit (11) allows the rotation of each wheel (13) about the respective rotation axis (13') in a rotation plane orthogonal to the rotation axis (13'). In addition, each wheel (13) has sliding means (21) in a direction transversal to the rotation support plane, such that the mobile unit (1) can follow any trajectory. In particular, the sliding means comprises a plurality of rollers (21) arranged adjacent to each other on a same row. This way, each wheel (13) can carry out a "leeway motion" transversally to each wheel rotation plane by the resulting rolling applied by the respective motor units (11) to the other wheels (13). In particular, in case of three wheels (13) of the mobile unit (1), if a first wheel it has not momentarily a rolling movement, giving to the other two wheels (13) an identical rolling speed, is obtained a translating the first wheel orthogonally to each wheel rotation plane i.e. parallel to its own rotation axis (13'). Giving instead different speeds to the other two wheels (13), it is possible to obtain a movement in a direction oblique with respect to the rotation plane of the first wheel.

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