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公开(公告)号：US07249422B2
公开(公告)日：2007-07-31
申请号：US10540917
申请日：2002-12-30
IPC分类号： A61B5/103
CPC分类号： A61B5/4528 , A61B5/1071 , A61B5/6824
摘要： A device (1) for measuring the relative orientation according to at least one degree of freedom for two objects, including a constraint generator (10) suitable for causing a goniometric sensor (40) to move in a plane, having the function of measuring the variation of relative orientation of the two objects in this plane. The goniometric sensor (40) is arranged in a housing (41) that crosses longitudinally the constraint generator (10), which has high flexional stiffness in a first longitudinal plane (β) and a low flexional stiffness in a second longitudinal plane (φ) orthogonal to the first (β). The sensor measures rotations in a plane and the constraint generator induces a rotation in that plane. With the device (1) a data suit (50) can be made for measuring the movement of limbs of an individual. For example, arranging three devices (10a, 10b, 10c) in series, but capable of measuring angles in orthogonal planes, the rotation can be measured of the arm (76) with respect to a shoulder (75) of an individual.
摘要翻译： 一种用于根据至少一个自由度测量两个物体的相对方向的装置（1），包括适于使测角传感器（40）在平面内移动的约束发生器（10），具有测量 该平面中两个物体的相对取向的变化。 测角传感器（40）设置在纵向交叉约束发生器（10）的壳体（41）中，约束发生器（10）在第一纵向平面（β）中具有高挠曲刚度，在第二纵向平面（phi）中具有低的弯曲刚度， 与第一（β）正交。 传感器测量平面中的旋转，约束发生器在该平面中引起旋转。 利用装置（1），可以制作数据套件（50）以测量个人的肢体的运动。 例如，将三个装置（10a，10b，10b）串联布置但能够测量正交平面中的角度，可以相对于个体的肩部（75）测量臂（76）的旋转 。
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公开(公告)号：US20060150753A1
公开(公告)日：2006-07-13
申请号：US10540918
申请日：2002-12-31
申请人： Bergamasco Massimo , Fabio Salsedo , Andrea Dettori , Marco Franceschini , Antonio Frisoli , Fabrizio Rocchi
发明人： Bergamasco Massimo , Fabio Salsedo , Andrea Dettori , Marco Franceschini , Antonio Frisoli , Fabrizio Rocchi
CPC分类号： G06F3/016 , B25J9/0006 , G06F3/011 , Y10T74/20213 , Y10T74/20341 , Y10T74/20366
摘要： An exoskeleton interface apparatus includes five rigid links (2-6) arranged in series, capable of rotating reciprocally at the respective ends for monitoring angular movements of the arm, of the forearm and the wrist of an user (60) and having at the tip an handgrip (30) for engaging with the user (60) by reflecting a force feedback. The rigid links (2-6) can rotate at their ends about rotational joints (11-14) having rotational axes (31-34) incident in the intersection point of the physiological axes of the shoulder. The rotational joints (11-14) are brought into rotation about the respective rotational axes (31-34) by means of respective motors (21-24), for example servo-motor such as torque motors. All the motors (21-24) are mounted on the fixed base link (2) in order to minimize the mass of the parts in movement and the inertia reflected on the user (60). A plurality of idle pulleys (50) is provided, spatially arranged for orienting the tendons (41-44), which brake the free movement of the relative rotational joint, responsive to signals corresponding to constraints on the slave in case of teleoperation or to constraints created by virtual reality systems.
摘要翻译： 外骨骼界面装置包括串联布置的五个刚性连杆（2-6），能够在相应端部处往复运动，用于监测臂，前臂和使用者手腕（60）的角运动，并且具有尖端 用于通过反映力反馈与用户（60）接合的手柄（30）。 刚性连杆（2-6）可在其端部围绕具有入射在肩部的生理轴线的交点处的旋转轴线（31-34）的旋转接头（11-14）旋转。 旋转接头（11-14）通过相应的电动机（21-24）围绕各自的旋转轴线（31-34）旋转，例如诸如扭矩电动机的伺服电动机。 所有的电动机（21-24）都安装在固定的基座连杆（2）上，以便最小化运动中的部件的质量和反映在用户（60）上的惯性。 多个怠速滑轮（50）被设置为空间布置，用于定向腱（41-44），其响应于在远程操作或约束的情况下对应于从属机上的约束的信号来制动相对旋转接头的自由运动 由虚拟现实系统创建。
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公开(公告)号：US07373721B2
公开(公告)日：2008-05-20
申请号：US10540916
申请日：2002-12-30
IPC分类号： G01B3/56
CPC分类号： A61F2/68 , A61B5/1071 , A61B5/4528 , A61B5/6806 , A61B5/6824 , A61F2/583 , A61F2/586 , A61F2002/7625
摘要： A goniometric sensor (1) for measuring the relative rotation of two objects (20,25) comprising a flexible elongated element (2) whose respective ends are connected to the two objects (20, 25) and during whose bending the length variation ΔL is determined of one of the lines (15) not located at the neutral axis (10). This length variation ΔL is directly proportional to the relative rotation (α) between the two bodies (20, 25) multiplied for the eccentricity (e) of the line (15) with respect to the neutral axis (10). Therefore, it is possible to determine easily the relative rotation (α) by knowing the length L and the eccentricity (e) with respect to the neutral axis 10, and measuring the length variation ΔL of the line, for example by measuring the movement of the end of a cable located in a hole that contains the line.
摘要翻译： 一种用于测量两个物体（20,25）的相对旋转的测角传感器（1），其包括柔性细长元件（2），其相应端部连接到两个物体（20,25），并且在弯曲期间，长度变化ΔL为 确定不位于中性轴线（10）的一条线（15）。 该长度变化DeltaL与线（15）相对于中性轴线（10）的偏心率（e）相乘的两个主体（20,25）之间的相对旋转（α）成正比。 因此，可以通过了解长度L和相对于中性轴线10的偏心率（e）来容易地确定相对旋转（α），并且通过测量线的长度变化量ΔL，例如通过测量线 电缆的末端位于包含线的孔中。
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公开(公告)号：US20060015191A1
公开(公告)日：2006-01-19
申请号：US10540916
申请日：2002-12-30
CPC分类号： A61F2/68 , A61B5/1071 , A61B5/4528 , A61B5/6806 , A61B5/6824 , A61F2/583 , A61F2/586 , A61F2002/7625
摘要： A goniometric sensor (1) for measuring the relative rotation of two objects (20, 25) includes a flexible elongated element (2) whose respective ends are connected to the two objects (20, 25) and during whose bending the length variation ΔL is determined of one of the fibers (15) not located at the neutral axis (10). This length variation ΔL is directly proportional to the relative rotation (α) between the two bodies (20, 25) multiplied for the eccentricity (e) of the fiber (15) with respect to the neutral axis (10). Therefore, it is possible to determine easily the relative rotation (α) by knowing the length of rest L and the eccentricity (e) with respect to the neutral axis (10) and to measure the length variation ΔL of fiber (15), for example measuring the movement of an end of a cable located in a hole that contains fiber (15).
摘要翻译： 用于测量两个物体（20,25）的相对旋转的测角传感器（1）包括柔性细长元件（2），其相应的端部连接到两个物体（20,25），并且在弯曲期间，长度变化ΔL为 确定不位于中性轴线（10）处的纤维（15）之一。 该长度变化ΔL与纤维（15）相对于中性轴线（10）的偏心率（e）相乘的两个主体（20,25）之间的相对旋转（α）成正比。 因此，可以通过了解静止长度L和相对于中性轴线（10）的偏心率（e）来容易地确定相对旋转（α），并测量纤维（15）的长度变化量ΔL，对于 测量位于包含纤维（15）的孔中的电缆的端部的运动的示例。
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5.发明申请METHOD FOR REMOTE MECHANISM ACTUATION AND EXOSKELETON APTIC INTERFACE BASED THEREON 审中-公开远程机械执行方法及其基于APOS接口的方法公开(公告)号：US20110185835A1
公开(公告)日：2011-08-04
申请号：US13059589
申请日：2009-08-31
申请人： Massimo Bergamasco , Fabio Salsedo , Marco Fontana
发明人： Massimo Bergamasco , Fabio Salsedo , Marco Fontana
IPC分类号： B25J13/02
CPC分类号： C12M23/10 , B01L3/508 , G01N2001/284 , Y10T74/20012
摘要： A method for actuating a mechanism imposing a prefixed relative movement between a first and a second rigid link and a hand exoskeleton obtained by utilizing the method. The mechanism includes revolute joints and may be a parallelogram mechanism, a pantograph remote center of rotation mechanism, or a multiple-degrees-of-freedom mechanism. The method provides coaxially arranging at one or more selected revolute joints a number of idle pulleys which are greater than the number of degrees of freedom of the mechanism, the first of the selected revolute joints preferably having its rotation axis fixed with respect to the rigid link; the method also provides arranging an inextensible cable between a traction point and a terminal point on the mechanism or on the second rigid link. By pulling the inextensible cable at the traction point, a multiplied torque is produced which is the sum of singular torques produced by the inextensible cable at each idle pulley, the multiplied torque causing a relative movement between the links.
摘要翻译： 一种用于致动在第一和第二刚性连杆之间施加前置相对运动并通过利用该方法获得的手外骨骼的机构的方法。 该机构包括旋转接头，可以是平行四边形机构，受电弓远程旋转机构中心或多自由度机构。 该方法提供在一个或多个选定的旋转接头处同轴布置多个空转滑轮，其大于机构的自由度的数量，所选择的旋转接头中的第一个优选地具有相对于刚性连杆固定的旋转轴线 ; 该方法还提供在牵引点和机构上的终点处或第二刚性连杆之间布置不可延伸的电缆。 通过在牵引点处拉动不可伸展的电缆，产生倍增的扭矩，其是在每个空转滑轮处由不可伸展的电缆产生的单个扭矩的总和，乘法扭矩导致连杆之间的相对运动。
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公开(公告)号：US20080196533A1
公开(公告)日：2008-08-21
申请号：US10579475
申请日：2004-11-15
CPC分类号： B25J9/0078 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2034/304 , A61B2034/305 , B25J9/0072 , B25J17/0266 , Y10T74/20335
摘要： Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element (3) mounted on a support (2) capable instantaneously to rotate with respect to a fixed member (5), for example by a ball joint (10) that allows three rotational degrees of freedom. In particular, the support (2) can be oriented with respect to the fixed member (5) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons (8), and causing the rotation of the support (2) about the central post (5) by the ball joint (10). Alternatively, the support (2) can be oriented with respect to the fixed member (5) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.
摘要翻译： 用于远程操作领域的远程操作机器手腕，例如用于微创手术操作，包括安装在能够相对于固定构件（5）瞬时旋转的支撑件（2）上的远侧元件（3），例如通过 允许三个旋转自由度的球形接头（10）。 特别地，支撑件（2）可以通过在偏心点中布置四个力（例如通过腱（8））而使冗余的致动系统相对于固定构件（5）定向，并且使得支撑件 （2）通过球窝接头（10）围绕中心柱（5）。 或者，支撑件（2）可以通过将属于支撑件的移动球体的滚动再现到与固定构件成一体的固定球体上而相对于固定构件（5）定向。
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公开(公告)号：US20110174097A1
公开(公告)日：2011-07-21
申请号：US12989095
申请日：2009-04-29
IPC分类号： F16H19/02
CPC分类号： F16H37/124 , F16H19/0622 , Y10T74/18848
摘要： A high torque limited angle compact and lightweight actuator that comprises a driven pulley (11), a flexible tie-member (6), which is wound about the driven pulley (11), a linear actuator (7) and an inversion mechanism (8). In particular, the linear actuator (7), which is located with respect to the driven pulley (11) such that the direction is substantially tangent to it, comprises a movable element (10) that carries out a linear movement along a line according to two opposite directions (10′), (10″). The inversion mechanism is such that when an input portion (8′) moves along a line (first straight line), tangential to the driven pulley, of a certain an amount a output portion (8″) moves along another line (second straight line), which is also tangential to the driven pulley, for a same movement amount, such that the total length of the tie-member (6) is unchanged. (FIG. 2)
摘要翻译： 一种高转矩限制角度紧凑且重量轻的致动器，包括从动带轮（11），围绕从动带轮（11）缠绕的柔性连接件（6），线性致动器（7）和反转机构（8） ）。 特别地，相对于从动带轮（11）定位成使得该方向基本上与其相切的线性致动器（7）包括可移动元件（10），该可移动元件（10）沿着线 两个相反方向（10'），（10“）。 反转机构使得当输入部分（8'）沿着与从动滑轮相切的线（第一直线）移动时，输出部分（8“）沿着另一条线（第二直线）移动一定量 ），其也与从动皮带轮相切，具有相同的移动量，使得连接构件（6）的总长度不变。 （图2）
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公开(公告)号：US07409882B2
公开(公告)日：2008-08-12
申请号：US10540918
申请日：2002-12-31
申请人： Bergamasco Massimo , Fabio Salsedo , Andrea Dettori , Marco Franceschini , Antonio Frisoli , Fabrizio Rocchi
发明人： Bergamasco Massimo , Fabio Salsedo , Andrea Dettori , Marco Franceschini , Antonio Frisoli , Fabrizio Rocchi
CPC分类号： G06F3/016 , B25J9/0006 , G06F3/011 , Y10T74/20213 , Y10T74/20341 , Y10T74/20366
摘要： An exoskeleton interface apparatus includes five rigid links (2-6) arranged in series, capable of rotating reciprocally at the respective ends for monitoring angular movements of the arm, of the forearm and the wrist of an user (60) and having at the tip an handgrip (30) for engaging with the user (60) by reflecting a force feedback. The rigid links (2-6) can rotate at their ends about rotational joints (11-14) having rotational axes (31-34) incident in the intersection point of the physiological axes of the shoulder. The rotational joints (11-14) are brought into rotation about the respective rotational axes (31-34) by means of respective motors (21-24), for example servo-motor such as torque motors. All the motors (21-24) are mounted on the fixed base link (2) in order to minimize the mass of the parts in movement and the inertia reflected on the user (60). A plurality of idle pulleys (50) is provided, spatially arranged for orienting the tendons (41-44), which brake the free movement of the relative rotational joint, responsive to signals corresponding to constraints on the slave in case of teleoperation or to constraints created by virtual reality systems.
摘要翻译： 外骨骼界面装置包括串联布置的五个刚性连杆（2-6），能够在相应端部处往复运动，用于监测臂，前臂和使用者手腕（60）的角运动，并且具有尖端 用于通过反映力反馈与用户（60）接合的手柄（30）。 刚性连杆（2-6）可在其端部围绕具有入射在肩部的生理轴线的交点处的旋转轴线（31-34）的旋转接头（11-14）旋转。 旋转接头（11-14）通过相应的电动机（21-24）围绕各自的旋转轴线（31-34）旋转，例如诸如扭矩电动机的伺服电动机。 所有的电动机（21-24）都安装在固定的基座连杆（2）上，以便最小化运动中的部件的质量和反映在用户（60）上的惯性。 多个怠速滑轮（50）被设置为空间布置，用于定向腱（41-44），其响应于在远程操作或约束的情况下对应于从属机上的约束的信号来制动相对旋转接头的自由运动 由虚拟现实系统创建。
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公开(公告)号：US20090153365A1
公开(公告)日：2009-06-18
申请号：US11719615
申请日：2005-11-18
申请人： Fabio Salsedo , Massimo Bergamasoo , Antonio Frisoli , Guido Cini
发明人： Fabio Salsedo , Massimo Bergamasoo , Antonio Frisoli , Guido Cini
IPC分类号： H03K17/94
摘要： A portable interface device (1) of haptic human-computer type which can be fixed to a hand (2) of an operator (3), capable of engaging with the operator (3) transmitting on the operator's hand fingertips tactile sensations following the shape of a virtual surface (4), in particular obtained from a real surface (5). The tactile sensations are transmitted to a fingertip by the device (1) through a movable and orientable surface contacting the fingertip while remaining tangential to the virtual surface (4). The device (1), by touching the user's fingertip only at the points of contact with the virtual surface (4), does not provide to the user (3) any tactile sensations on the or on each fingertip when it moves in a free space, obtaining a very high level of transparency of the device. The workspace of the interface device (1) is very high, and can be also infinite, using suitable position tracking systems.
摘要翻译： 一种触觉式人机计算机类型的便携式接口装置（1），其可以固定到操作者（3）的手（2）上，能够与操作者（3）接合，在操作者的手上传递指纹，触觉感觉跟随形状 （4），特别是从实际表面（5）获得。 触觉感受器件（1）通过与指尖接触的可移动和定向的表面传递到指尖，同时保持与虚拟表面（4）相切。 只有在与虚拟表面（4）的接触点触摸用户的指尖时，设备（1）不向用户（3）提供在自由空间中移动时每个指尖上或之上的任何触觉 ，获得非常高水平的透明度的设备。 接口设备（1）的工作空间非常高，并且也可以是无限的，使用合适的位置跟踪系统。
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公开(公告)号：US20060130347A1
公开(公告)日：2006-06-22
申请号：US10540917
申请日：2002-12-30
IPC分类号： A61B5/103
CPC分类号： A61B5/4528 , A61B5/1071 , A61B5/6824
摘要： A device (1) for measuring the relative orientation according to at least one degree of freedom for two objects, including a constraint generator (10) suitable for causing a goniometric sensor (40) to move in a plane, having the function of measuring the variation of relative orientation of the two objects in this plane. The goniometric sensor (40) is arranged in a housing (41) that crosses longitudinally the constraint generator (10), which has high flexional stiffness in a first longitudinal plane (β) and a low flexional stiffness in a second longitudinal plane (φ) orthogonal to the first (β) . The sensor measures rotations in a plane and the constraint generator induces a rotation in that plane. With the device (1) a data suit (50) can be made for measuring the movement of limbs of an individual. For example, arranging three devices (10a, 10b, 10c) in series, but capable of measuring angles in orthogonal planes, the rotation can be measured of the arm (76) with respect to a shoulder (75) of an individual.
摘要翻译： 一种用于根据至少一个自由度测量两个物体的相对方向的装置（1），包括适于使测角传感器（40）在平面内移动的约束发生器（10），具有测量 该平面中两个物体的相对取向的变化。 测角传感器（40）设置在纵向交叉约束发生器（10）的壳体（41）中，约束发生器（10）在第一纵向平面（β）中具有高挠曲刚度，在第二纵向平面（phi）中具有低的弯曲刚度， 与第一（β）正交。 传感器测量平面中的旋转，约束发生器在该平面中引起旋转。 利用装置（1），可以制作数据套件（50）以测量个人的肢体的运动。 例如，将三个装置（10a，10b，10b）串联布置但能够测量正交平面中的角度，可以相对于个体的肩部（75）测量臂（76）的旋转 。
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