The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 02, 2025
Filed:
Jun. 25, 2020
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna, Pisa, IT;
Universität Heidelberg, Heidelberg, DE;
Lorenzo Masia, Heidelberg, DE;
Antonio Frisoli, Pisa, IT;
Luca Tiseni, Pisa, IT;
Domenico Chiaradia, Pisa, IT;
Michele Xiloyannis, Zurich, CH;
Massimiliano Solazzi, Pisa, IT;
Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pisa, IT;
Universität Heidelberg, Heidelberg, DE;
Abstract
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.