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

IPC分类号： A61B5/103 ,  A61B5/11

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。

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

IPC分类号： A61B5/103 ,  B25J9/00

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。

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

CPC分类号： G06F3/016 ,  G06F3/014

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。