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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).

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