公开(公告)号：WO2012114274A2

公开(公告)日：2012-08-30

申请号：PCT/IB2012050792

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

CPC classification number: G06F3/0354 ,  A63B21/00181 ,  A63B21/0058 ,  A63B21/4035 ,  A63B21/4045 ,  A63B22/20 ,  A63B23/03508 ,  A63B23/0355 ,  A63B23/1209 ,  A63B24/0087 ,  A63B71/0622 ,  A63B2022/0094 ,  A63B2024/0096 ,  A63B2071/0636 ,  A63B2071/0655 ,  A63B2220/13 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/51 ,  A63B2220/54 ,  A63B2220/58 ,  A63B2220/805 ,  A63B2230/06 ,  A63B2230/207 ,  G06F3/016

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 (1 1) independent, such that each wheel motor unit (1 1) 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 (1 1 ) 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.

Abstract translation: 一种触觉装置（100），被配置为用作人机接口，用于在虚拟和/或真实场所中进行交互，由机器人辅助的远程操作和康复包括：移动单元（1），被配置为与至少一个用户 3），与移动单元（1）相关联的控制单元（4）和馈送单元（10）。 特别地，移动单元（1）包括彼此旋转间隔开的至少三个轮（13）; 每个轮子（13）包括旋转轴线（13'）并且具有独立的轮马达单元（11），使得每个轮马达单元（11）允许每个轮子（13）围绕相应的旋转轴线 13'）在与旋转轴线（13'）正交的旋转平面内。 此外，每个车轮（13）在与旋转支撑平面横切的方向上具有滑动装置（21），使得移动单元（1）可以跟随任何轨迹。 特别地，滑动装置包括在同一排上彼此相邻布置的多个辊子（21）。 这样，每个轮（13）可以通过由相应的电动机单元（11）施加到其它车轮（13）的所得到的滚动来横向地执行每个车轮旋转平面的“余地运动”。 特别地，在移动单元（1）的三个轮（13）的情况下，如果第一轮不是暂时的滚动运动，则给予另一个两个轮（13）相同的滚动速度，从而将 第一轮正交于每个车轮旋转平面，即平行于其自身的旋转轴线（13'）。 给予另外两个轮子（13）不同的速度，可以获得相对于第一车轮的旋转平面倾斜的方向的运动。

公开(公告)号：WO2006126239A2

公开(公告)日：2006-11-30

申请号：PCT/IT2006000397

申请日：2006-05-26

Applicant: SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT ANNA ,  GUGLIELMELLI EUGENIO ,  DI LAURO GIUSEPPINA ANNA ,  CHIARUGI FEDERICO ,  GIACHETTI GIACOMO ,  PERRELLA YVES ,  PISETTA ANDREA ,  SCOGLIO ANDREA

Inventor： GUGLIELMELLI EUGENIO ,  DI LAURO GIUSEPPINA ANNA ,  CHIARUGI FEDERICO ,  GIACHETTI GIACOMO ,  PERRELLA YVES ,  PISETTA ANDREA ,  SCOGLIO ANDREA

IPC: A47G21/08

CPC classification number: A47G21/08

Abstract: An apparatus for the self-feeding of disabled or elderly people comprising: a support base (1; 101a; 101b) ; holding means (9) for an open food container, pivotally connected to the base; means (7) for scooping food from said container; means for moving the scooping means from a food scooping position from the container and a food dispensing position at an height from the base corresponding to the user's mouth, comprising a first arm (3) slantingly extending from the base and a second arm (5) , arranged in a substantially horizontal position and slidably mounted on the first arm (3) , the food scooping means (7) being slidably mounted on the second arm (5) . Motor means (18, 24) are further provided for sliding the second arm (5) along the first arm (3) and the food scooping means (7) along the second arm (5) and for rotating the food container holding means (9) . At least a tank (105) for liquid o semi liquid food and for beverages is placed on the base (1) and means for conveying the food (10, 104) from the tank to the user's mouth are provided; The apparatus also comprises programming and control means of the functions thereof including a mouth operable control (11) placed at the outlet end of the conveying means (10, 104).

Abstract translation: 一种用于残疾人或老年人自给自足的装置，包括：支撑基座（1; 101a; 101b）; 用于开放食物容器的保持装置（9），枢转地连接到基部; 用于从所述容器中舀取食物的装置（7）; 用于将舀取装置从食物舀取位置从容器移动的装置以及与使用者口部相对应的基座的高度处的食物分配位置，包括从基部倾斜延伸的第一臂（3）和第二臂（5） ，布置在基本上水平的位置并可滑动地安装在第一臂（3）上，食物舀取装置（7）可滑动地安装在第二臂（5）上。 进一步设置有马达装置（18,24），用于沿第一臂（3）和食物铲斗装置（7）沿第二臂（5）滑动第二臂（5）并使食物容器保持装置（9 ）。 至少一个用于液体的半液体食品和饮料的罐（105）被放置在基座（1）上，并且提供用于将食物（10,104）从罐传送到使用者的口的装置; 该装置还包括其功能的编程和控制装置，其包括放置在输送装置（10,104）的出口端处的口可操作控制装置（11）。

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.

公开(公告)号：WO2005018453A1

公开(公告)日：2005-03-03

申请号：PCT/IT2003/000517

申请日：2003-08-26

Applicant: SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA ,  SCOGLIO, Andrea ,  ZACCONE, Franco ,  MICERA, Silvestro ,  DARIO, Paolo

Inventor： SCOGLIO, Andrea ,  ZACCONE, Franco ,  MICERA, Silvestro ,  DARIO, Paolo

IPC: A61B5/103

CPC classification number: A61B5/4528 ,  A61B5/1071 ,  A61B5/1121 ,  A61B5/6828

Abstract: A wearable mechatronic device for monitoring the movements of a body joint comprising a support (1) that can be applied to the limb comprising the joint, magnetic sensor means (10a, 10b) arranged in correspondence with at least one axis of rotation (X, Y) of the joint and capable of generating an electric signal of an intensity correlated with the magnitude of the angular movement around said axis, means (17a,b-22a,b; 24; 29) for positioning said magnetic sensor means in correspondence with said at least one axis or rotation, fixable to said support (1) on the joint and both above and below it.

Abstract translation: 一种用于监测身体关节的运动的可佩戴的机电装置，包括可施加到包括关节的肢体的支撑件（1），与至少一个旋转轴线（X，X）对应布置的磁性传感器装置（10a，10b） Y），并且能够产生与所述轴线周围的角运动的大小相关的强度的电信号，用于将所述磁传感器装置对应于所述装置（17a，b-22a，b; 24; 29） 所述至少一个轴线或旋转件可固定到所述接头上的所述支撑件（1）上并且在其上方和下方。

公开(公告)号：WO2006126239A3

公开(公告)日：2006-11-30

申请号：PCT/IT2006/000397

申请日：2006-05-26

Applicant: SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S.ANNA ,  GUGLIELMELLI, Eugenio ,  DI LAURO, Giuseppina, Anna ,  CHIARUGI, Federico ,  GIACHETTI, Giacomo ,  PERRELLA, Yves ,  PISETTA, Andrea ,  SCOGLIO, Andrea

Inventor： GUGLIELMELLI, Eugenio ,  DI LAURO, Giuseppina, Anna ,  CHIARUGI, Federico ,  GIACHETTI, Giacomo ,  PERRELLA, Yves ,  PISETTA, Andrea ,  SCOGLIO, Andrea

IPC: A47G21/08

Abstract: An apparatus for the self-feeding of disabled or elderly people comprising: a support base (1; 101a; 101b) ; holding means (9) for an open food container, pivotally connected to the base; means (7) for scooping food from said container; means for moving the scooping means from a food scooping position from the container and a food dispensing position at an height from the base corresponding to the user's mouth, comprising a first arm (3) slantingly extending from the base and a second arm (5) , arranged in a substantially horizontal position and slidably mounted on the first arm (3) , the food scooping means (7) being slidably mounted on the second arm (5) . Motor means (18, 24) are further provided for sliding the second arm (5) along the first arm (3) and the food scooping means (7) along the second arm (5) and for rotating the food container holding means (9) . At least a tank (105) for liquid o semi liquid food and for beverages is placed on the base (1) and means for conveying the food (10, 104) from the tank to the user's mouth are provided; The apparatus also comprises programming and control means of the functions thereof including a mouth operable control (11) placed at the outlet end of the conveying means (10, 104).