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1. 发明公开

EP2178680A2 WEARABLE MECHATRONIC DEVICE 有权
标题翻译：便携式设备的机电一体化
公开(公告)号：EP2178680A2
公开(公告)日：2010-04-28
申请号：EP08788962.2
申请日：2008-07-30
申请人： Scuola Superiore Di Studi Universitari S. Anna
发明人： CATTIN, Emanuele , VITIELLO, Nicola , GIOVACCHINI, Francesco , VECCHI, Fabrizio , CARROZZA, Maria Chiara , ROCCELLA, Stefano
IPC分类号： B25J9/00 , A61B5/00 , A61F5/01
CPC分类号： A61F5/013 , A61B5/1071 , A61B5/4528 , A61B5/6812 , A61B5/6824 , A61B5/6825 , A61B5/6828 , A61H1/0237 , A61H1/0274 , A61H2201/165 , A61H2201/5061 , B25J9/0006
摘要： A wearable mechatronic device for limb rehabilitation by operating in agonist-antagonist configuration, including a proximal stiff bearing structure attachable to the proximal element of the limb and a distal stiff bearing structure attachable to the distal element of the limb, said proximal and distal structures being pivotally connected about a revolute axis adapted to instantaneously self-align with the articulation axis of the limb and adapted to move around a point inside a space defined by two opposite cones having vertex coincident on such point. A couple of opposite adjustable joints allow the movement of the joint axis. Each shaft, which is linked between said proximal and distal structures, pivotally receives a driven pulley integral to the other among said proximal and distal structures. The opposite adjustable joints are respectively connected with a first and a second kinematic chain placed specularly to each other with respect to a longitudinal plane of the limb and connected with said proximal or distal structure. A combined hand-elbow exoskeleton is also provided comprising the wearable mechatronic device arranged at the elbow and a hand exoskeleton arranged at the hand. The hand exoskeleton comprises an external backing element applicable on the metacarpus, shell-like elements applicable on each phalanx connected in series to each other starting from said backing element by means of respective joints, and means to arrange operatively and automatically said joints in coincidence of each respective articulation of the hand.

2. 发明授权

EP2178680B1 WEARABLE MECHATRONIC DEVICE 有权
标题翻译：便携式设备的机电一体化
公开(公告)号：EP2178680B1
公开(公告)日：2014-05-07
申请号：EP08788962.2
申请日：2008-07-30
申请人： Scuola Superiore Di Studi Universitari S. Anna
发明人： CATTIN, Emanuele , VITIELLO, Nicola , GIOVACCHINI, Francesco , VECCHI, Fabrizio , CARROZZA, Maria Chiara , ROCCELLA, Stefano
IPC分类号： B25J9/00 , A61B5/00 , A61F5/01
CPC分类号： A61F5/013 , A61B5/1071 , A61B5/4528 , A61B5/6812 , A61B5/6824 , A61B5/6825 , A61B5/6828 , A61H1/0237 , A61H1/0274 , A61H2201/165 , A61H2201/5061 , B25J9/0006

3. 发明公开

EP2519387A1 ELECTROMECHANICAL ACTUATOR STRUCTURE 审中-公开
标题翻译：机电致动器的结构
公开(公告)号：EP2519387A1
公开(公告)日：2012-11-07
申请号：EP09835904.5
申请日：2009-12-31
申请人： Scuola Superiore Di Studi Universitari S. Anna
发明人： ROCCELLA, Stefano
IPC分类号： B25J9/12
CPC分类号： B25J9/12 , H02K41/0356
摘要： An electromechanical actuator (100) comprising a ferromagnetic unit or a stator (10) which consists of opposite first (11 ) and a second (12) ferromagnetic elements that comprises ferromagnetic portions (16') and magnetic elements (15) that form together a open magnetic circuit. The electromechanical actuator (100) comprises also an electromagnetic unit (20) that is relatively movable with respect to the ferromagnetic unit (10), which comprises a first (21 ) and a second (22) winding integral to each other and arranged, with respect to the ferromagnetic unit (10), such that the respective open magnetic circuit are closed on the first (11 ) and the second (12) ferromagnetic elements. In particular, the first (21 ) and the second windings (22) comprise each a plurality of serially arranged elementary windings (23), which starts from an initial elementary winding (23i) up to a final elementary winding (23f), in particular the elementary windings have an increasing number of loops. The windings (21/22) are oppositely arranged with respect to each other and are respectively run through by opposite currents lag and Ian in such a way that opposite repulsive forces are generated. In particular, the forces are such that an agonist force (Fag), which is generated on one of windings, for example (21), that is run through by current lag, opposes to an antagonist force (Fan), which is generated on the other winding (22), that is run through by current Ian, until a relative position of the electromagnetic unit (10) and of the ferromagnetic unit (20) is achieved in which the above described forces balance each other. The electromechanical actuator (100), comprises furthermore a means for independently controlling the intensity of the opposite currents lag and Ian that circulates within the first (21 ) and the second winding (22) in order to adjust the absolute value of the current intensity difference and therefore adjusting the relative position, where the forces balance each other.

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