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    KINEMATIC CHAIN FOR TRANSMISSION OF MECHANICAL TORQUES
    1.
    发明申请
    KINEMATIC CHAIN FOR TRANSMISSION OF MECHANICAL TORQUES 审中-公开

    公开(公告)号：US20190202051A1

    公开(公告)日：2019-07-04

    申请号：US16308680

    申请日：2017-05-29

    申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA ,  IUVO S.R.L.

    发明人： Andrea BALDONI ,  Francesco GIOVACCHINI ,  Nicola VITIELLO

    IPC分类号： B25J9/10 ,  F16H7/06

    摘要： A kinematic chain comprises a first pulley, arranged to rotate about a rotation axis x, and a second pulley arranged to rotate about a rotation axis y. The kinematic chain comprises then at least one connecting element comprising at least one passage having at least one rotating element, said or each connecting element also comprising at least one interface arranged to connect the connecting element to an adjacent connecting element or to a pulley, generating a rotational constraint about a rotation axis z. The kinematic chain also comprises a transmission element arranged to develop along a determined path for transmitting a rotational motion between the first pulley and the second pulley. The transmission element is adapted to be, in use, fixedly in contact with said or each rotating element by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.

    ERGONOMIC EXOSKELETON SYSTEM FOR THE UPPER LIMB
    5.
    发明申请
    ERGONOMIC EXOSKELETON SYSTEM FOR THE UPPER LIMB 审中-公开

    公开(公告)号：US20180071163A1

    公开(公告)日：2018-03-15

    申请号：US15565610

    申请日：2016-04-11

    申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA ,  AZIENDA OSPEDALIERA PISANA

    发明人： Marco CEMPINI ,  Nicola VITIELLO ,  Francesco GIOVACCHINI ,  Matteo MOISE ,  Mario CORTESE

    IPC分类号： A61H1/02

    摘要： Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points A1 and B1 located at a distance A1B1, said second element comprising two pivot points A2 and B2 located at a distance A2B2. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point A1 and a first end link pivotally connected to the first external link at a pivot point D1, said pivot point D1 being located at a distance A1D1 by the pivot point A1. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A2, and a second end link pivotally connected to the second external link at a pivot point D2, said pivot point D2 being located at a distance A2D2 by the pivot point A2. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point B1 and integrally connected to the second end link at a junction point C2, a second intermediate link pivotally connected to the second element at the pivot point B2 and integrally connected to the first end link at a junction point C1. The first and the second end link are pivotally connected to each other at a pivot point M. Defining ==θ, for any value of θ, the projections of the pivot points A1, B1, A2, B2 in a plane H, lay in a circumference K having center O and radius r=A1D1=A2D2=D1B2=MB2=D2B1=MB1, in such a way that decreasing the value of θ the first and the second element rotate with respect to each other about an axis z orthogonal to the plane π and passing through the center O in the direction for which the point A1 is overlapped to the point B2.

    WEARABLE ROBOTIC DEVICE FOR MOVING A USER
    9.
    发明申请
    WEARABLE ROBOTIC DEVICE FOR MOVING A USER 有权

    公开(公告)号：US20220008226A1

    公开(公告)日：2022-01-13

    申请号：US17297431

    申请日：2019-11-26

    申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA

    发明人： Andrea BALDONI ,  Matteo FANTOZZI ,  Simona CREA ,  Nicola VITIELLO

    IPC分类号： A61F2/66 ,  A61F2/70 ,  B25J9/00 ,  B25J9/10

    摘要： A robotic device (100) for the movement of a user, said robotic device (100) comprising an interface frame (105) arranged to connect the robotic device (100) to a lower limbs or to a prosthesis of lower limbs, said interface frame (105) being integral to an axis x, a lower portion (110) integral to an axis y, a resilient element (140) having a first end (141) connected to the interface frame (105) and a second end (142) connected to the lower portion (110), said resilient element (140) being arranged to deform as a function of an angular variation θ between the axis x and the axis y, a switching device (120) comprising a first element (121), connected to the interface frame (105), and a second element (122), connected to the lower portion (110), said first and second element (121,122) arranged to carry out a relative movement s as a function of the angular variation θ between the axis x and the axis y. In particular, the robotic device (100) is configured in such a way that when the relative movement s is less than a predetermined threshold value s* and the angular variation θ increases, the robotic device (100) is in a first configuration and the resilient element (140) deforms storing elastic energy, said switching device (120) being configured in such a way that in the first configuration the relative movement s can take place only in one direction of motion, and that when the relative movements is equal to the predetermined threshold value s*, the robotic device (100) passes in a second configuration and the resilient element (140) releases elastic energy creating an angular moment Mel arranged to oppose the increasing of the angular variation θ.

    ACTUATION SYSTEM FOR HIP ORTHOSIS
    10.
    发明申请
    ACTUATION SYSTEM FOR HIP ORTHOSIS 审中-公开

    公开(公告)号：US20200206063A1

    公开(公告)日：2020-07-02

    申请号：US16781641

    申请日：2020-02-04

    申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA

    发明人： Nicola VITIELLO ,  Francesco GIOVACCHINI ,  Marco CEMPINI ,  Matteo FANTOZZI ,  Matteo MOISE ,  Marco MUSCOLO ,  Mario CORTESE

    IPC分类号： A61H3/00 ,  A61H1/02

    摘要： A monolateral actuation system of a hip articulation is configured to be connected to an orthosis. The monolateral actuation system comprises a motor device arranged to provide assistive torque at a motor axis; a transmission device is connected to the motor axis and arranged for transferring the assistive torque onto an output axis corresponding to an axis of flexion-extension of the hip articulation and parallel to the motor axis. The transmission device includes a cable and first and second pulleys connected to one another by the cable. The first and second pulleys are arranged to extend relative to one another variably. A fixed frame is provided for connecting to the orthosis onto which the motor device and the transmission device are mounted.