公开(公告)号：US20210322250A1

公开(公告)日：2021-10-21

申请号：US17343191

申请日：2021-06-09

Applicant: FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： JODY ALESSANDRO SAGLIA ,  STEFANO D'ANGELLA ,  LUCIA CIACCIA ,  CARLO SANFILIPPO ,  SIMONE UNGARO

IPC: A61H1/02 ,  A63B69/00 ,  A63B71/06 ,  A63B21/005 ,  A63B22/18 ,  A63B23/08 ,  A63B21/00 ,  A63B26/00 ,  A63B21/002 ,  A63B21/22 ,  A63B22/00 ,  A63B24/00 ,  A63B71/00

Abstract: A system includes a first support structure which is stationary, a second support structure which is supported by the first support structure for rotation about a first axis of rotation, a first actuation unit having a first motor device, a first output member and a first motion transmission system. The system also includes a second actuation unit having a second motor device, a second output member and a second motion transmission system. The first output member is drivingly connected with the second support structure for rotation about the first axis of rotation. The first motor device is arranged to control, via the first motion transmission system, the rotation of the first output member, along with the second support structure, about the first axis of rotation. The second output member is supported by the second support structure for rotation about a second axis of rotation.