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1. 发明申请

WO2022201131A1 DEVICE AND SYSTEM FOR THE CONTROL OF A FLUID FLOW 审中-公开
公开(公告)号：WO2022201131A1
公开(公告)日：2022-09-29
申请号：PCT/IB2022/052836
申请日：2022-03-28
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , MAXRES S.R.L.
发明人： ODDO, Calogero Maria , MASSARI, Luca , CAMBONI, Domenico , TERRUSO, Giuseppe , FILOSA, Mariangela , D'ALESIO, Giacomo , SATTA, Alessandro , MARI, Barbara
IPC分类号： F15B13/04 , F16K1/44 , F16K7/17 , F16K27/00
摘要： A device (100) for controlling a fluid flow comprising an inner chamber (105) where a pressure P/ is present, a first channel (110) fluidically connected to a first opening (111) arranged to allow the passage of the fluid flow between the first channel (110) and the inner chamber (105) and a second channel (120) fluidically connected to a second opening (121) arranged to allow the passage of the fluid flow between the second channel (120) and the inner chamber (105). Furthermore, the device (100) comprises a first elastic membrane (115) arranged to pass between a locking configuration and an unlocking configuration and a second elastic membrane (125) arranged to pass between a locking configuration and an unlocking configuration. In particular, the device (100) is configured in such a way that, when the first elastic membrane (115) and the second elastic membrane (125) are arranged in the respective unlocking configurations, the first channel (110) is hydraulically connected with the second channel (120) by the inner chamber (105) and, when at least one among the first elastic membrane (115) and the second elastic membrane (125) is in the locking configuration, the first channel (110) is not hydraulically connected with the second channel (120) by the inner chamber (105).

2. 发明申请

WO2022201024A1 MECHANOCHROMIC PRESSURE SENSOR FOR SAFE AND EFFECTIVE TISSUE HANDLING IN MINIMALLY INVASIVE SURGERY 审中-公开
公开(公告)号：WO2022201024A1
公开(公告)日：2022-09-29
申请号：PCT/IB2022/052608
申请日：2022-03-22
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： GIORDANO, Goffredo , SINIBALDI, Edoardo , HUAN, Yu , GAGLIARDI, Mariacristina , CARLOTTI, Marco , MAZZOLAI, Barbara
IPC分类号： A61B34/00 , A61B17/29 , A61B90/00
摘要： A mechanical end-effector for minimally invasive surgery (MIS) equipped with a mechanochromic indicator for providing the surgeon with visual indication of the force applied upon a tissue, which indicator comprises at least one polymeric matrix functionalized with mechanochromic molecules, wherein a prepolymer/curing agent weight ratio used for preparing said at least one matrix is comprised in the range 1:1 - 15:1 and the percentage by weight of the mechanochromic molecules in the at least one matrix is comprised in the range 0.1 - 5%.

3. 发明申请

WO2021084427A1 METHOD FOR OPTIMISING THE ARRANGEMENT OF PRESSURE SENSORS AND DEVICE OBTAINED BY THIS METHOD 审中-公开
公开(公告)号：WO2021084427A1
公开(公告)日：2021-05-06
申请号：PCT/IB2020/060077
申请日：2020-10-28
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： MARTINI, Elena , BALDONI, Andrea , VITIELLO, Nicola , CREA, Simona , FIUMALBI, Tommaso , DELL'AGNELLO, Filippo
IPC分类号： A61B5/103
摘要： A method for the optimized arrangement of pressure sensors (100) in a sensorized device (10) arranged to detect biomechanical events characterizing the footstep of a user, said method comprising the steps of prearranging a not optimised sensorized device (10') comprising a group G of m pressure sensors (100), a control unit arranged to receive an output voltage Vi from each pressure sensor (100) and to process a corresponding value of force Fi=ƒ(Vi). The method then comprises the steps of executing a working cycle using the not optimised sensorized device (10'), processing m values of force Fi (t), as a function of time t, starting from the values of output voltage Vi acquired during the working cycle, computing the total force vGRF(t) expressed on the not optimised sensorized device (10'), computing the centre of pressures CoPy (t) during the working cycle, computing the geometric centre CGy, defining the instants tHS, tFF and tT0, defining a number n

4. 发明申请

WO2021028794A1 METHOD AND SYSTEM FOR INTERROGATING AN OPTICAL FIBER SENSOR OF THE FIBER BRAGG GRATING TYPE, USING A TUNABLE OPTICAL BANDPASS FILTER 审中-公开
公开(公告)号：WO2021028794A1
公开(公告)日：2021-02-18
申请号：PCT/IB2020/057443
申请日：2020-08-06
申请人： FRENI BREMBO S.P.A. , SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： CAMOZZI, Francesco , SZEWCZYK, Beniamin , FARALLI, Stefano , DI PASQUALE, Fabrizio , NANNIPIERI, Tiziano
IPC分类号： G01D5/353 , G01L1/24
摘要： A method for interrogating at least one optical fiber sensor of the Fiber Bragg Grating type FBG is described. The method comprises the steps of: lighting the optical fiber sensor of the Fiber Bragg Grating type FBG with a broadband excitation optical radiation OA; conveying the optical spectrum transmitted OT or reflected OR by the optical fiber sensor FBG to at least one tunable optical bandpass filter BPF having a first extraction port 1 and a second transmission port 2, which are complementary to each other; tuning the optical bandpass filter BPF at a constant operating wavelength, depending on the nominal operating wavelength of the fiber Bragg grating of the FBG sensor; detecting a respective first optical signal L1 exiting the first extraction port 1 of the optical bandpass filter; converting, by means of a first opto-electronic receiver PD1, the aforesaid first optical signal L1 into a respective first electrical signal E1, representative of a wavelength shift Ah, with respect to the nominal operating wavelength, of the spectrum reflected or transmitted by the Bragg grating of the FBG optical fiber sensor. The method then comprises the steps of detecting a second optical signal L2, exiting the second transmission port 2 of the optical bandpass filter BPF, spectrally complementary to the first optical signal L1; and converting this second optical signal L2, by means of a second opto-electronic receiver PDT, into a respective second electrical signal E2, representative of an optical reference power, which is substantially independent of the filtering wavelength, and having a dependence on the power of the broadband excitation optical radiation, and on the losses of the overall optical path, equal to the dependence undergone by the respective first electrical signal E1. The method includes determining the wavelength shift Ah, with respect to the nominal operating wavelength, of the spectrum reflected or transmitted by the optical fiber sensor FBG, based on the first electrical signal and the second electrical signal detected, in such a way that the detection of the first electrical signal is compensated for with respect to variations of optical radiation power and variations in loss on the optical path. A corresponding system for interrogating at least one optical fiber sensor of the Fiber Bragg Grating type FBG is also described, wherein the aforesaid optical bandpass filter BPF and the aforesaid first and second opto-electronic receiver PD1, PDT are integrated in a photonic integrated circuit ("Photonic Integrated Circuit" - PIC).

5. 发明申请

WO2020261167A1 APPARATUS CAPABLE OF ACTUATING A DISTAL JOINT AND TRANSFERRING THE CONSTRAINING REACTIONS IN AN UNDERACTUATED SHOULDER EXOSKELETON 审中-公开
公开(公告)号：WO2020261167A1
公开(公告)日：2020-12-30
申请号：PCT/IB2020/056009
申请日：2020-06-25
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , UNIVERSITÄT HEIDELBERG
发明人： MASIA, Lorenzo , FRISOLI, Antonio , TISENI, Luca , CHIARADIA, Domenico , XYLOIANNIS, Michele , SOLAZZI, Massimiliano
IPC分类号： A61H1/02
摘要： An underactuated mechanism (1), which allows the actuation of a distal degree of freedom of the shoulder joint and the transfer of the torques and the reaction force, generated by the actuation system on the frame (3) integral with the torso (5), through a hyper-redundant kinematic mechanism (200), is formed as follows: a. a first non -actuated rotoidal joint (100) connected to the human torso (5), which rotates about the axis X, b. a connection mechanism (200) connected to the first rotoidal joint (100), c. a second rotoidal joint (300) which (i) rotates about the axis Y arranged according to the degree of flexion-extension of the shoulder joint, which is coplanar with the axis X, (ii) is remotely actuated by a driven pulley and Bowden cables or by a direct drive actuation system with co-located motor, (iii) is fixed to the connection mechanism (200) on one side and to the human arm (6) on the other side, with the connection mechanism (200) consisting of: at least three or more members (210, 220, 231 ), two of which (210, 220) being rigidly fixed to one of the rotoidal joints (100, 300), respectively, all with parallel joints, referred to as minimum joints A and B, arranged so as to connect one member with the next one to form a rotation constraint about the axis of said parallel joints.

6. 发明申请

WO2020079661A1 METHOD FOR TESTING THE BRAKING CAPACITY TO VEHICLE AND SYSTEM THEREOF 审中-公开
公开(公告)号：WO2020079661A1
公开(公告)日：2020-04-23
申请号：PCT/IB2019/058907
申请日：2019-10-18
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA , PIAGGIO & C. S.P.A.
发明人： CONTROZZI, Marco , LUPI, Alessandro , BARTOLI, Domenico , GHIONZOLI, Alessio , DARIO, Paolo , BACCHERETI, Michele , MONTAGNANI, Federico , CECCHINI, Torquato , ROGGI, Massimo , MINUTILLO, Marco
IPC分类号： G01L5/28
摘要： A method for checking the braking capacity of a vehicle (10), said vehicle (10) comprising a body(11), at least one wheel (15), a braking system arranged to reduce the speed of the or each wheel (15), said braking system comprising an interface device arranged to operate the braking system. The method comprises the steps of arranging the vehicle (10) in a working area (100) comprising at least one rotating roller (110) and a control unit, arrangement of body (11) in a predetermined position and associating each wheel (15) to at least one rotating roller (110) by a constraint of rolling friction, actuating the or each rotating roller (110) to put in rotation at least one wheel (15) to it associated until a predetermined speed ω is reached, actuating the braking system, by the interface device (20), for reducing the predetermined speed ω of the or each wheel (15) put in rotation, detecting the tangential force between each wheel (15) and at least one rotating roller (110) to it associated. Furthermore, downstream of the step of actuating the or each rotating roller (110), a step is provided of locking the vehicle (10) in such a way that the body (11) is maintained substantially in the predetermined position also in case of forces applied to the body (11), said step of locking carried out by means of lock means.

7. 发明申请

WO2020070713A1 EXOSKELETON FOR THE ASSISTANCE OF POLYARTICULAR JOINTS 审中-公开
公开(公告)号：WO2020070713A1
公开(公告)日：2020-04-09
申请号：PCT/IB2019/058483
申请日：2019-10-04
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： BALDONI, Andrea , VITIELLO, Nicola , CREA, Simona
IPC分类号： B25J9/00
摘要： A exoskeletal kinematic chain (100) arranged to assist the movement of a polyarticular bone chain (200), said exoskeletal kinematic chain (100) comprising a frame (105) integrally connected to an anatomical engagement portion (205), a number i of exoskeletal links (110), one of them being integral to the frame (105), a number j of exoskeletal rotational joints (120), each exoskeletal rotational joint (120) arranged to allow a relative rotation φ j ;· between two exoskeletal links (110) adjacent to it about a rotation axis xj . Each exoskeletal rotational joint (120) is located at a distance d j by the previous exoskeletal rotational joint (120) along the exoskeletal kinematic chain (100), each distance d j being constant for each value of the relative rotations φ j ; ·. Each exoskeletal link (110) is connected to a corresponding bone link (210) by a kinematic constraint (130), each kinematic constraint (130) arranged to allow the transmission of at least one force component Fn orthogonal to the exoskeletal link (110) and/or to the corresponding bone link (210). At each exoskeletal rotational joint (120) is arranged a pulley (125) arranged to rotate about a corresponding rotation axis x j , and at least one cable (140) is provided substantially inextensible and integrally constrained to a exoskeletal link (110) at the end of the exoskeletal kinematic chain (100) opposite to the frame (105), said or each cable (140) being in contact with each pulley (125).

8. 发明申请

WO2020070703A1 WEARABLE ACTIVE ROBOT WITH SENSOR MEANS FOR FEEDBACK CONTROL 审中-公开
公开(公告)号：WO2020070703A1
公开(公告)日：2020-04-09
申请号：PCT/IB2019/058466
申请日：2019-10-04
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： BALDONI, Andrea , CREA, Simona , VITIELLO, Nicola
IPC分类号： A61H1/02 , A61H3/00
摘要： The present invention relates to an underactuated active wearable robot, comprising a feedback control for compensating external forces acting on the robot itself.

9. 发明申请

WO2019073407A1 ADAPTIVE CONTROL OF A WEARABLE ROBOT SUCH AS AN ORTHESIS OR A PROSTHESIS 审中-公开
公开(公告)号：WO2019073407A1
公开(公告)日：2019-04-18
申请号：PCT/IB2018/057850
申请日：2018-10-10
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： VITIELLO, Nicola , LANOTTE, Francesco , CREA, Simona
IPC分类号： G06F3/01 , B25J9/00 , B25J9/16 , G05B19/31
CPC分类号： G06F3/011 , B25J9/0006 , B25J9/1615 , B25J9/163 , G05B19/31 , G05B2219/40305
摘要： 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.

10. 发明申请

WO2018207108A1 A WEARABLE DEVICE FOR PREVENTING THE FALL OF A USER 审中-公开
公开(公告)号：WO2018207108A1
公开(公告)日：2018-11-15
申请号：PCT/IB2018/053217
申请日：2018-05-09
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA
发明人： APRIGLIANO, Federica , MARTELLI, Dario , MICERA, Silvestro , MONACO, Vito , PARRI, Andrea , TROPEA, Peppino , VITIELLO, Nicola
IPC分类号： A61H1/02 , A61H3/00
摘要： The present invention refers to the field of wearable robotic devices, and in particular it concerns a wearable robotic device adapted to be connected with the lower limbs of a user subject, to detect a potentially dangerous balance loss, probably causing a fall, and consequently activate appropriate strategies to sustain the same user and recover the balance, avoiding the fall to the ground.

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