Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna

Scuola Superiore Di Studi Universitari E Di Perfez

Simona Crea

Nicola Vitiello

Francesco Giovacchini

Mario Cortese

Andrea Baldoni

Emilio Trigili

Marco Cempini

Matteo Moise

Matteo Fantozzi

Matteo Moisé

Francesco Lanotte

Matteo Cianchetti

Dario Marconi

Tommaso Fiumalbi

Elena Martini

Filippo DELL'AGNELLO

Antonio Scalamogna

Angela Grassi

Andrea Parri

Matteo Moise'

Matteo MoisÉ

A rotational joint of intra-extra rotation for assistance of the movement of intra-extra rotation of a shoulder of a user. The rotational joint features a first circular guide arranged to rotate about a first rotation axis and a second circular guide arranged to rotate about a second rotation axis that is parallel to the first rotation axis. A support element is arranged to support the first and the second circular guides. The first and the second circular guide are pivotally connected by a conical wheel having a third rotation axis perpendicular to the first rotation axes and said conical wheel being pivotally constrained to the support element.

Exoskeleton for upper arm

The present invention is in the sector of wearable robotic devices, and in particular it concerns a method for the adaptive control of a wearable robot. In particular, the invention discloses a method for the adaptive control of the discrete or open-ended movements of a wearable robot such as a prosthesis or an orthesis.

Method for the adaptive control of a wearable robot, such as an orthesis or a prosthesis, and wearable robot operating according such method

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

Growing community of inventors

Lucca, Italy

Simona Crea