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：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.