Fondazione Istituto Italiano Di Tecnologia

Nikos Tsagarakis

Darwin G Caldwell

Matteo Laffranchi

Gianluca Pane

Jody Alessandro Saglia

Ioannis Sarakoglou

Amir Jafari

Jian S Dai

Bram Vanderborght

An electronic measurement unit for a polymorphous device, comprising a number of lateral structures, each lateral structure including: a support structure; at least one sensor constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure that constrains a corresponding external covering element to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

Electronic measurement unit for a polymorphous device for force measurement and polymorphous device including the same

A rotary joint () includes an output member () rotatable about a first axis of rotation (x), a first actuator device () arranged to generate a rotary motion about the first axis (x), an input member () driven by the first actuator device () about the first axis (x), elastic elements () between the input member () and the output member () and configured such that the transmission of the torque takes place via the elastic elements (). A second actuator device () is arranged to change the stiffness of the rotary joint (). The rotary joint () includes an intermediate member () hinged () to the output member () to rotate relative to the output member about a second axis of rotation (x) parallel to the first axis (x), abuts at its opposite end against the elastic elements () and is hinged (), at an intermediate point thereof, to the input member () to rotate relative to the input member about a third axis of rotation (x) parallel to the first axis (x). Transmission of the torque between the input member () and the output member () takes place via the intermediate member (). The second actuator device () is arranged to change the hinge point and the distance between the second axis of rotation (x) and the third axis of rotation (x).

Stiffness adjustable rotary joint

An actuator () includes a body (), an output member () slidably received in the body () along&#x2014; a first axis (X), an electric motor () arranged to set into rotation a motor shaft () about a, second axis (X) and a motion conversion mechanism () for converting the rotary motion produced by the electric motor () about the second axis (X) into a translational motion of the output member () along the first axis (X). The motion conversion mechanism () includes a driving pulley () which is drivingly connected for rotation with the motor shaft () and an elongated mechanical transmission member which is wound onto the driving pulley () and is fastened at its two opposite ends to the output member () to draw this latter in either direction along the first axis (X) as a result of the rotation of the driving pulley () in either direction. The output member () is shaped as a rod and is received in a cylindrical cavity () of the body () so as to project partially therefrom. The elongated mechanical transmission member (S) is fastened to the output member () at axially opposite points of this latter with respect to the driving pulley ().

Linear actuator and rehabilitation device incorporating such an actuator

Elastic rotary actuators are provided having breaking units arranged in such a way as to apply on an output member an adjustable braking torque in order to introduce adjustable damping between an input member and the output member in parallel to elastic members.

Elastic rotary actuators

An actuator and a method for controlling the actuator are described. The actuator comprises: an output member rotatable around an axis of rotation; an input member rotatable around the axis and connected for rotation with the output member via a plurality of cylindrical helical springs; a motor assembly arranged to drive the input member to rotate around the axis of rotation; first and second sensors for detecting the angular position of the input member and the relative angular position between the input member and the output member; and an electronic control unit arranged to determine a desired angular velocity of the input member on the basis of a desired value for the impedance of the actuator and to control the motor assembly on the basis of the error between the desired angular velocity of the input member and the angular velocity of the input member.

Growing community of inventors

Genoa, Italy

Nikos Tsagarakis