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1. 发明申请

WO2022200989A1 POWERED EXOSKELETON JOINT 审中-公开
公开(公告)号：WO2022200989A1
公开(公告)日：2022-09-29
申请号：PCT/IB2022/052549
申请日：2022-03-21
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. ISTITUTO NAZIONALE PER L’ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
发明人： VACCARO, Riccardo , TRAVERSO, Simone , CANEPA, Michele , DE MICHIELI, Lorenzo , LAFFRANCHI, Matteo
IPC分类号： A61H3/00
摘要： Powered exoskeleton joint (10) comprising an actuation unit (1) and at least one actuation arm (2) mounted oscillatingly onto said actuation unit (1), said actuation unit (1) being configured to move said actuation arm (2) oscillatingly around said joint (10), said actuation arm (2) being coupled to the frame of an exoskeleton by means of a coupling system. Said coupling system comprises two parts, one of which is integral with the actuation arm (2) and the other integral with the exoskeleton frame, which parts are configured to be inserted at least partially inside each other, so as to identify a male part (3) and a female part, the male part (3) passing from an inserted condition to an extracted condition, and vice-versa, with respect to the female part, the female part having tapered surfaces complementary to the external surfaces of a male end (31) of the male part (3), said female part comprising at least one pin (41) for locking the male part (3) in the inserted condition, mounted translatable according to a direction incident to the insertion direction, which locking pin (41) engages with a corresponding locking housing (32) provided on the male part (3).

2. 发明申请

WO2022249138A1 METHOD FOR DETERMINING THE TORQUE TO BE DELIVERED BY THE MOTORISED JOINTS OF A LOWER LIMB EXOSKELETON DURING WALKING OF A SUBJECT WITH LOCOMOTOR DEFICITS 审中-公开
公开(公告)号：WO2022249138A1
公开(公告)日：2022-12-01
申请号：PCT/IB2022/054993
申请日：2022-05-27
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO , FONDAZIONE DON CARLO GNOCCHI ONLUS
发明人： HINTERLANG, Wiebke , MALUDROTTU, Stefano , VASSALLO, Christian , SCARPETTA, Silvia , LAFFRANCHI, Matteo , CHIAPPALONE, Michela , DE MICHIELI, Lorenzo , FERRARIN, Maurizio , LENCIONI, Tiziana , JONSDOTTIR, Johanna
IPC分类号： A61H1/02 , A61H3/00
摘要： Method for determining the torque to be delivered by the motorised joints (10, 11, 12, 13) of a lower limb exoskeleton during the walk of a subject with locomotor deficits (3), which method provides for setting the torque to be delivered by the motorised joints (10, 11, 12, 13) based on the various phases of the walk, a step being provided for determining the state of the walk moment by moment. The determination of the state of the walk is made by detecting the distance along the sagittal plane between the two feet of the patient (3), so as to identify three conditions, of which a right foot condition forward, an aligned foot condition and a left foot condition forward, the motorised joints (10, 11, 12, 13) being configured to detect the distance along the sagittal plane between the two feet of the subject (3).

3. 发明申请

WO2023073512A1 ANATOMICAL PROSTHESIS WITH A MECHANISM FOR INDEPENDENT FINGER ACTUATION 审中-公开
公开(公告)号：WO2023073512A1
公开(公告)日：2023-05-04
申请号：PCT/IB2022/060083
申请日：2022-10-20
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
发明人： BOCCARDO, Nicolò , STEDMAN, Samuel , ROSSI, Paolo , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo , CANEPA, Michele , GRUPPIONI, Emanuele
IPC分类号： A61F2/58
摘要： The invention relates to a Hannes-type hand prosthesis (1), wherein the fingers (3, 3a, 3b, 3 c) provided with phalanges (31, 32) are controlled in flexion and extension by a system of sliding cables (5, 5a, 5b) and pulleys (64, 65). A stopping device (100, 101, 103, 104, 105) acts upon a slider (62) supporting the pulleys (64, 65) for selectively stopping the movements of the fingers (3, 3a, 3b, 3c), so that, when the user commands the actuation of some of them, the other fingers will remain locked in the flexed or extended position, and vice versa.

4. 发明申请

WO2023017351A1 JOINT PROSTHESIS 审中-公开
公开(公告)号：WO2023017351A1
公开(公告)日：2023-02-16
申请号：PCT/IB2022/056982
申请日：2022-07-28
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
发明人： STEDMAN, Samuel , BOCCARDO, Nicolò , LOMBARDI, Lorenzo , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo , MARINELLI, Andrea , GRUPPIONI, Emanuele
IPC分类号： A61F2/58 , A61F2/68 , A61F2/70 , A61F2/50
摘要： It is provided a joint prosthesis (1) configured to reciprocally rotate a first prosthesis (1a) and a second prosthesis (1b) and comprising: a first attachment (2) to the first prosthesis (1a); a second attachment (3) to the second prosthesis (1b); a hinge (4) defining an axis of rotation (4a) between the attachments (2, 3); a mover (5) configured to apply to the hinge (4) a driving torque defining a reciprocal rotation between the attachments (2, 3); and a compensator (6) configured to apply to the hinge (4) a variable locking torque depending on the angular opening between the attachments (2, 3) and defining the minimum torque to be applied to the hinge (4) to have said reciprocal rotation.

5. 发明申请

WO2023275846A1 PROSTHETIC DEVICE 审中-公开
公开(公告)号：WO2023275846A1
公开(公告)日：2023-01-05
申请号：PCT/IB2022/056153
申请日：2022-07-01
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
发明人： CHERUBINI, Andrea , CANEPA, Michele , BOCCARDO, Nicolò , TRAVERSO, Simone , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo , GRUPPIONI, Emanuele , DE GIUSEPPE, Samuele , DRIESSEN, Josephus Johannes Maria , ROSSI, Paolo
IPC分类号： A61F2/50 , A61F2/68 , A61F2/70 , A61F2/64 , A61F2002/5003 , A61F2002/6845 , A61F2002/701
摘要： Prosthetic device, suitable to replace at least in part the limb of a user, comprising a proximal prosthetic portion (1) suitable to be coupled to a segment of the user's limb and a distal prosthetic portion (2). The proximal prosthetic portion (1) and the distal prosthetic portion (2) are inter-connected by an articular portion (3) comprising an articular actuator assembly (5) for rotatably actuating said distal portion (2) with respect to said proximal portion (1) about an axis of rotation (30). A damper assembly (4) connected to said articular portion (3) is provided and adapted to absorb energy when a torque is applied between said proximal portion (1) and said distal portion. The articular actuator assembly (5) is provided with a removable mechanical engagement element (6) such that the actuator assembly (5) can be switched from a coupled condition in which it rotatably drives said distal portion (2) with respect to said proximal portion (1) to a decoupled condition in which said distal portion (2) is only coupled to said damper assembly (4) for a predetermined rotation angle. The articular actuator assembly (5) includes an electric motor (50) and a reduction gearbox (51), which reduction gearbox (51) is connected in input with the motor (50) and in output with said engagement element (6). The engagement element (6) comprises an actuating part connected to the output of the reduction gearbox (51) and an actuating part integral with the distal portion (2). The actuating part and the actuated part are respectively provided with abutment and reciprocal fitting surfaces arranged on radial planes with respect to said rotation axis (30), which abutment surfaces are respectively provided on at least one protrusion of the actuating part (60) and on at least one protrusion of the actuated part (61 ). Said protrusions (60, 61) have angular extensions such that in the said decoupled condition the protrusion of the actuating part (60) is positioned angularly, spaced from the protrusion of the actuated part (61) so as to constitute an end stop for the extension of the distal portion (2) and thus allow the free flexion of the distal portion (2) for a predetermined angular amplitude, while in the said coupled condition the protrusions of the actuating part (60) and of the actuated part (61 ) are in abutment with each other so as to actuate the relative rotation of the distal portion (2) with respect to the proximal portion (1) in extension.

6. 发明申请

WO2019215578A1 PROSTHETIC FINGER 审中-公开
公开(公告)号：WO2019215578A1
公开(公告)日：2019-11-14
申请号：PCT/IB2019/053683
申请日：2019-05-06
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , INAIL - ISTITUTO NAZIONALE PER L' ASSICURAZIONE CONTRO GLI INFORTUNI
发明人： TRAVERSO, Simone , LINCE, Andrea , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo
IPC分类号： A61F2/58
摘要： A prosthetic finger (3) is provided comprising an attachment (33) adapted to constrain the prosthetic finger (3) to an external body; a phalanx (31) proximal to the attachment (33) and a phalanx (32) distal to the attachment (33) and hinged to the attachment (33) defining a first axis of rotation (31a); the distal phalanx (32) being hinged to the proximal phalanx (31) on the opposite side of the attachment (33) defining a second axis of rotation (32a); an actuator (4) adapted to control a rotation of the phalanges (31, 32); a control cable (5a, 5b) defining a control end constrained to the distal phalanx (32) and adapted to control the rotation of the phalanges (31, 32) in a first direction; and for each prosthetic finger (3, 3a); a return cable (341) defining a first return end constrained to the attachment (33) and a second return end constrained to the distal phalanx (32); an elastic body (342) adapted to keep the return cable (341) under tension and to work in opposition to the control cable (5a, 5b), so that when the control cable (5a, 5b) rotates the phalanges (31, 32) in the first direction, it moves the return cable (341), thereby loading the elastic body (342) and allowing the elastic body (342) to control a rotation of said phalanges (31, 32) in a second direction opposite to the first direction.

7. 发明申请

WO2022234446A1 ELASTIC BALANCING OF LOADS IN AN EXOSKELETON 审中-公开
公开(公告)号：WO2022234446A1
公开(公告)日：2022-11-10
申请号：PCT/IB2022/054070
申请日：2022-05-03
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
发明人： DE GUGLIELMO, Luca , CAPITTA, Gianluca , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo
IPC分类号： A61H1/02 , B25J9/10 , B25J19/00
摘要： An exoskeleton (10) comprises a mechanism (11) for elastically balancing loads applied to the exoskeleton. The mechanism comprises a rigid connection element (12) and a rigid housing (13) mutually pivoted to one another about a first axis of oscillation (14) and attachable to respective relatively rotatable parts (15, 16) of the exoskeleton. A lever (31, 32) is rotatably mounted to the housing (13) about a second axis of oscillation (30). A flexible traction element (26, 27) has a first end (28) rotationally secured to the connection element (12) with respect to the first axis of oscillation (14) and a second end (37) secured to said lever (31, 32) at a securing point (36) spaced from the second axis of oscillation (30). A compression spring (40) exerts a thrust, away from the first axis of oscillation, against a portion (35) of the lever (31, 32) intermediately between the second axis of oscillation (30) and the securing point (36) to the second end (37) of the traction element (26, 27).

8. 发明申请

WO2022101775A1 ROBOTIC ANKLE 审中-公开
公开(公告)号：WO2022101775A1
公开(公告)日：2022-05-19
申请号：PCT/IB2021/060354
申请日：2021-11-09
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. - ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
发明人： GUERCINI, Lorenzo , TRAVERSO, Simone , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo
IPC分类号： A61F2/66 , A61F2/50 , A61F2/70 , A61F2/74
摘要： The present invention relates to an ankle prosthesis comprising an actuation system so as to act as brake, modulated by motor means, proportional to the load stressing the prosthesis and it is advantageously capable of reducing the work necessary to lift the prosthesis itself while maintaining an anthropometric encumbrance.

9. 发明申请

WO2022084847A1 PROSTHESIS FOR LIMBS OF THE HUMAN BODY AND ELECTROHYDRAULIC ACTUATOR FOR SUCH PROSTHESIS 审中-公开
公开(公告)号：WO2022084847A1
公开(公告)日：2022-04-28
申请号：PCT/IB2021/059611
申请日：2021-10-19
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , I.N.A.I.L. - ISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO , POLITECNICO DI TORINO
发明人： TESSARI, Federico , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo , GALLUZZI, Renato , AMATI, Nicola , TONOLI, Andrea
IPC分类号： A61F2/64 , A61F2/70 , F15B9/04
摘要： The invention relates to a prosthesis (1) for limbs of the human body, in particular the leg, actuated by means of an actuator (10) capable of both generating and collecting energy.The actuator is a linear electro-hydrostatic (EHA) one, and is more compact and efficient than traditional drives based on electro-mechanical gears. Through a suitable kinematic chain, the actuator (10) produces an angle-dependent transmission ratio.The invention also comprises a generated rotor pump (20), whose external rotor is supported by rolling means.

10. 发明申请

WO2019215577A1 AN UNDERACTUATED PROSTHETIC HAND 审中-公开
公开(公告)号：WO2019215577A1
公开(公告)日：2019-11-14
申请号：PCT/IB2019/053682
申请日：2019-05-06
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , INAIL - ISTITUTO NAZIONALE PER L’ASSICURAZIONE CONTRO GLI INFORTUNI
发明人： TRAVERSO, Simone , LINCE, Andrea , LAFFRANCHI, Matteo , DE MICHIELI, Lorenzo , BOCCARDO, Nicolò
IPC分类号： A61F2/58 , A61F2/50
摘要： An underactuated prosthetic hand (1) is provided comprising a base body (2); a pair of prosthetic fingers (3) comprising a first prosthetic finger (3) and a second prosthetic finger (3); each finger is hinged to the base body (2); a first control cable (5a); an actuator (4) adapted to move the first control cable (5a); and for each pair of prosthetic fingers (3) a second control cable (5b) having control ends associated with the first prosthetic finger (3) and the second prosthetic finger (3); and a transmission block (6) adapted to allow the first control cable (5a) to control the second control cable (5b); said transmission block (6) comprises a guide (61) integral with the base body (2) and defining a sliding axis (61a); a movable element (62) sliding along the guide (61); a first pulley (64) for the sliding of the first control cable (5a) hinged to the movable element (62) and a second pulley (65) for the sliding of the second control cable (5b) hinged to the movable element (62) so that the actuator (4), when moving the first cable (5a), determines a translational movement of the movable element (62) causing a displacement of the second control cable (5b) and therefore of the prosthetic fingers (3); and elastic means (63) adapted to work in opposition to the translational movement of the movable element (62) so that said translational movement of the movable element (62) is performed in opposition to the elastic means (63) allowing them to facilitate the return to the initial position of the movable element (62).

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