Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna

Rehabilitation Institute of Chicago

Azienda Ospedaliera Pisana

Azienda Ospedaliero-Universitaria Pisana

Scuola Superiore S.anna

Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Di Pisa

Marco Cempini

Nicola Vitiello

Francesco Giovacchini

Tommaso Lenzi

Mario Cortese

Maria Chiara Carrozza

Matteo Moise

Andrea Baldoni

Matteo Fantozzi

Stefano Marco Maria De Rossi

Todd Kuiken

Marco Muscolo

James Lipsey

Simona Crea

Dario Marconi

Azzurra Chiri

Lenzi Tommaso

James H Lipsey

Matteo MoisÉ

A transmissive joint has an elastic response for transmitting a torsional load capable of ensuring the transmission in the absence of coaxiality between two actuating and actuated devices, and allowing the internal passage of cabling or possible accessory components along the axis of transmission/torsion.

Joint for transmitting a torsional load with elastic response

Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points Aand Blocated at a distance, said second element comprising two pivot points Aand Blocated at a distance. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point Aand a first end link pivotally connected to the first external link at a pivot point D, said pivot point Dbeing located at a distanceby the pivot point A. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A, and a second end link pivotally connected to the second external link at a pivot point D, said pivot point Dbeing located at a distanceby the pivot point A. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point Band integrally connected to the second end link at a junction point C, a second intermediate link pivotally connected to the second element at the pivot point Band integrally connected to the first end link at a junction point C. The first and the second end link are pivotally connected to each other at a pivot point M. Defining==&#x3b8;, for any value of &#x3b8;, the projections of the pivot points A, B, A, Bin a plane &#x3c0;, lay in a circumference K having center O and radius r======, in such a way that decreasing the value of &#x3b8; the first and the second element rotate with respect to each other about an axis z orthogonal to the plane &#x3c0; and passing through the center O in the direction for which the point Ais overlapped to the point B.

Ergonomic exoskeleton system for the upper limb

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.

Actuation system for hip orthosis

A kinematical chain () for assisting a spherical motion of an anatomical joint () of a finger of the hand () of a user, said anatomical joint () having centre of rotation P and being arranged for allowing a relative motion of a finger of the hand () with respect to a portion of hand () of the user, said finger of the hand () defining a longitudinal direction &#x3b4;. The kinematical chain () comprises a first rotational joint () engaged to the finger of the hand () and to a first connection link (), said first rotational joint () arranged to provide a relative rotation &#x3b1; between the first connection link () and the finger of the hand () about a rotation axis x coincident with the longitudinal direction &#x3b4;. The kinematical chain () also comprises a third rotational joint () engaged to the portion of hand () and to a second connection link (), said third rotational joint () arranged to provide a relative rotation &#x3b3; between the second connection link () and the portion of hand () about a rotation axis z integral to the portion of hand (). The kinematical chain () comprises then a second rotational joint () engaged to the first connection link () and to the second connection link (), said second rotational joint () arranged to provide a relative rotation &#x3b2; between the first connection link () and the second connection link () about a rotation axis y. The rotation axes x, y and z intersect in a centre of rotation O, in such a way that the kinematical chain () allows a spherical motion of the longitudinal direction &#x3b4; with respect to the portion of hand () about the centre of rotation P.

Kinematical chain for assisting the motion of a spherical joint

A torsional spring that can be used as a joint adapted to transmit at torsion actuation with elastic response. The torsional spring relates to a compact torsional elastic element, provided with a linear torque characteristic which is also not affected by the direction of rotation. The torsional spring is capable of attaining a high transmissible torque relative to its weight and overall dimension.

Torsional transmission element with elastic response

An aid device for the motor disabled, suitable for allowing walking of transfemoral amputees, having: a lower-limb prosthesis of an amputated limb; a lower-limb orthosis suitable to be worn at a sound contralateral lower-limb; an orthotic pelvis module connecting the prosthesis to the lower-limb orthosis; and a control unit for the operational coordination of movements of the prosthesis and the lower-limb orthosis.

Technological aid for transfemoral amputees

Systems and methods are disclosed for a powered ankle prosthesis. The prosthesis may comprise a polycentric mechanism having a defined path for an instantaneous center of rotation. The path of the instantaneous center of rotation may be defined by a trajectory substantially equal to an arc positioned over a joint of the polycentric mechanism.

Polycentric powered ankle prosthesis

Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points Aand Blocated at a distance, said second element comprising two pivot points Aand Blocated at a distance. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point Aand a first end link pivotally connected to the first external link at a pivot point D, said pivot point Dbeing located at a distanceby the pivot point A. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A, and a second end link pivotally connected to the second external link at a pivot point D, said pivot point Dbeing located at a distanceby the pivot point A. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point Band integrally connected to the second end link at a junction point C, a second intermediate link pivotally connected to the second element at the pivot point Band integrally connected to the first end link at a junction point C. The first and the second end link are pivotally connected to each other at a pivot point M. Defining==&#x3b8;, for any value of &#x3b8;, the projections of the pivot points A, B, A, Bin a plane &#x3a0;, lay in a circumference K having center O and radius r======, in such a way that decreasing the value of &#x3b8; the first and the second element rotate with respect to each other about an axis z orthogonal to the plane &#x3a0; and passing through the center O in the direction for which the point Ais overlapped to the point B.

Systems and methods for assistive devices for replacing or augmenting the limb of an individual, such devices comprising a joint and a powered system; the powered system having a first configuration in which the powered system rotates the joint by applying power to the joint, and a second configuration that allows for rotation of the joint without actuation of the powered system.

Powered and passive assistive device and related methods

A torsional spring that can be used as a joint adapted to transmit a torsion actuation with elastic response. The torsional spring relates to a compact torsional elastic element, provided with a linear torque characteristic which is also not affected by the direction of rotation. The torsional spring is capable of attaining a high transmissible torque relative to its weight and overall dimension.

Combination prosthetic and orthotic device

An exoskeleton device for assisting the movement of a metacarpal-phalangeal joint of a hand in a flexion/extension plane &#x393; of the joint, including a metacarpal support arranged integrally with a metacarpal portion of the hand, a phalangeal support having a fastening link for fastening to a proximal phalanx, a kinematical chain between the metacarpal support and the phalangeal support arranged to provide and carry out a rotation of the phalangeal support with respect to the metacarpal support.

Growing community of inventors

Terricciola, Italy

Marco Cempini