Universitat Heidelberg

Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna

Scuola Superiore Santanna

Trenitalia Spa

Next Generation Robotics S.r.l.

Domenico Chiaradia

Massimiliano Solazzi

Antonio Frisoli

Lorenzo Masia

Luca Tiseni

Giancarlo Santamato

Michele Xiloyannis

Daniele Leonardis

Davide Garbin

Paolo Masini

Vincenzo Manno

An underactuated mechanism has a first rotoidal joint connected to a human torso and rotating about a first joint rotation axis, a hyper-redundant connection mechanism connected to the first rotoidal joint, and a second rotoidal joint rotating about a second joint rotation axis, coplanar with the first joint rotation axis. The second rotoidal joint is remotely actuated by a driven pulley and Bowden cables or by a direct drive actuation system with co-located motor, and is fixed to the hyper-redundant connection mechanism on one side and to a human arm on the other side. The hyper-redundant connection mechanism has at least three members. Two members of the at least three members are rigidly fixed to one of the rotoidal joints, respectively. All members are connected together by rotation joints with axes parallel to one another and arranged to connect one member to a successive member to form a rotation constraint.

Apparatus capable of actuating a distal joint and transferring the constraining reactions in an underactuated shoulder exoskeleton

Growing community of inventors

Pisa, Italy

Domenico Chiaradia