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1. 发明申请

WO2004058458A1 EKOSKELETON INTERFACE APPARATUS 审中-公开
标题翻译： EKOSKELETON接口设备
公开(公告)号：WO2004058458A1
公开(公告)日：2004-07-15
申请号：PCT/IB2002/005664
申请日：2002-12-31
申请人： SALSEDO, Fabio , DETTORI, Andrea , BERGAMASCO, Massimo , FRANCESCHINI, Marco , FRISOLI, Antonio , ROCCHI, Fabrizio
发明人： SALSEDO, Fabio , DETTORI, Andrea , BERGAMASCO, Massimo , FRANCESCHINI, Marco , FRISOLI, Antonio , ROCCHI, Fabrizio
IPC分类号： B25J9/00
CPC分类号： G06F3/016 , B25J9/0006 , G06F3/011 , Y10T74/20213 , Y10T74/20341 , Y10T74/20366
摘要： An exoskeleton interface apparatus comprises five rigid links (2-6) arranged in series, capable of rotating reciprocally at the respective ends for monitoring angular movements of the arm, of the forearm and the wrist of an user (60) and having at the tip an handgrip (30) for engaging with the user (60) by reflecting a force feedback. The rigid links (2-6) can rotate at their ends agout rotational joints (11-14) having rotational axes (31-34) incident in the intersection point of the physiological axes of the shoulder. The rotational joints (11-14) are brought into rotation about the respective rotational axes (31-34) by means of respective motors (21-24), for example servo-motor such as torque motors. All the motors (21-24) are mounted on the fixed base link (2) in order to minimize the mass of the parts in movement and the inertia reflected on the user (60). A plurality is provided of idle pulleys (50) spatially arranged in space (figure 6) for orienting the tendons (41-44), which brake the free movement of the relative rotational joint, responsive to signals corresponding to constrainsts on the slave in case of Teleoperation or to constraints created by Virtual reality systems.
摘要翻译：外骨骼接口装置包括串联布置的五个刚性连杆（2-6），其能够在相应端部处往复运动，用于监测臂，前臂和使用者的手腕（60）的角运动，并且在尖端用于通过反映力反馈与用户（60）接合的手柄（30）。刚性连杆（2-6）可以在它们的端部旋转，其具有入射在肩部的生理轴线的交点中的旋转轴线（31-34）的旋转接头（11-14）。旋转接头（11-14）通过相应的电动机（21-24）围绕各个旋转轴线（31-34）旋转，例如诸如扭矩电动机的伺服电动机。所有电动机（21-24）都安装在固定的基座连杆（2）上，以便最小化运动部件的质量和用户（60）上反映的惯性。多个设置在空间上空间布置的空闲滑轮（图6），用于定位腱（41-44），该腱（41-44）响应于对应于奴隶上的约束的信号来制动相对旋转接头的自由运动的远程操作或由虚拟现实系统创建的约束。

2. 发明申请

WO2006054163A3 PORTABLE HAPTIC INTERFACE 审中-公开
公开(公告)号：WO2006054163A3
公开(公告)日：2006-05-26
申请号：PCT/IB2005/003460
申请日：2005-11-18
申请人： SALSEDO, Fabio , BERGAMASCO, Massimo , FRISOLI, Antonio , CINI, Guido
发明人： SALSEDO, Fabio , BERGAMASCO, Massimo , FRISOLI, Antonio , CINI, Guido
IPC分类号： G06F3/00
摘要： A portable interface device (1) of haptic human-computer type which can be fixed to a hand (2) of an operator (3), capable of engaging with the operator (3) transmitting on the operator’s hand fingertips tactile sensations following the shape of a virtual surface (4), in particular obtained from a real surface (5). The tactile sensations are transmitted to a fingertip by the device (1) through a movable and orientable surface contacting the fingertip while remaining tangential to the virtual surface (4). The device (1), by touching the user’s fingertip only at the points of contact with the virtual surface (4), does not provide to the user (3) any tactile sensations on the or on each fingertip when it moves in a free space, obtaining a very high level of transparency of the device. The workspace of the interface device (1) is very high, and can be also infinite, using suitable position tracking systems.

3. 发明申请

WO2004058457A1 TENDON-DRIVEN ROTATIONAL JOINT FOR EXOSKELETON STRUCTURE 审中-公开
标题翻译： TENDON-DRIVEN旋转接头用于EXOSKELETON结构
公开(公告)号：WO2004058457A1
公开(公告)日：2004-07-15
申请号：PCT/IB2002/005663
申请日：2002-12-31
申请人： SALSEDO, Fabio , DETTORI, Andrea , BERGAMASCO, Massimo
发明人： SALSEDO, Fabio , DETTORI, Andrea , BERGAMASCO, Massimo
IPC分类号： B25J9/00
CPC分类号： B25J17/0241 , B25J9/0006 , B25J9/104
摘要： An open rotational joint for exoskeleton structures formed by a open circular guide (2) for a carriage having two ends (2'). The carriage moves on the boundary of the open circular guide (2) for example by means of a ball recirculating mechanism. To the carriage (3) a force can be applied that is opposite to its free movement along open guide 2 by means of a tendon of forward stroke (30) and a tendon of backward stroke (31). The guide (2) can be formed by a first plate (2a) and a second plate (2b) parallel to each other. A first series of idle pulleys (15a-15d) and a second series of idle pulleys (16) can be used, respectively with the function of leading the tendon of forward stroke (30) and of backward stroke (31) from a starting position substantially parallel to the axis (21) of the joint (1) to a position substantially parallel to the axis(21) of the joint (1) to a position substantially parallel to the plane (?) of open circular guide 2.
摘要翻译：由用于具有两个端部（2'）的滑架的敞开的圆形导向件（2）形成的用于外骨骼结构的开放旋转接头。托架例如通过球循环机构在打开的圆形引导件（2）的边界上移动。对于托架（3），可以通过前行程（30）的腱和向后行程（31）的腱，沿着打开的引导件2施加与其自由运动相反的力。引导件（2）可以由彼此平行的第一板（2a）和第二板（2b）形成。可以分别使用第一系列空转带轮（15a-15d）和第二系列空转滑轮（16），其功能是从起始位置引导前行程（30）和后行程（31）的腱基本上平行于接头（1）的轴线（21）到基本上平行于接头（1）的轴线（21）的位置到基本上平行于开口圆形引导件2的平面（<）的位置。

4. 发明申请

WO2010125417A1 HIGH TORQUE LIMITED ANGLE COMPACT AND LIGHTWEIGHT ACTUATOR 审中-公开
标题翻译：高转矩有限角度紧凑和轻量级的执行器
公开(公告)号：WO2010125417A1
公开(公告)日：2010-11-04
申请号：PCT/IB2009/005420
申请日：2009-04-29
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI S. ANNA , BERGAMASCO, Massimo , SALSEDO, Fabio , LUCCHESI, Nicola
发明人： BERGAMASCO, Massimo , SALSEDO, Fabio , LUCCHESI, Nicola
IPC分类号： F16H19/00
CPC分类号： F16H37/124 , F16H19/0622 , Y10T74/18848
摘要： A high torque limited angle compact and lightweight actuator that comprises a driven pulley (11), a flexible tie-member (6), which is wound about the driven pulley (11), a linear actuator (7) and an inversion mechanism (8). In particular, the linear actuator (7), which is located with respect to the driven pulley (11) such that the direction is substantially tangent to it, comprises a movable element (10) that carries out a linear movement along a line according to two opposite directions (10'), (10''). The inversion mechanism is such that when an input portion (8') moves along a line (first straight line), tangential to the driven pulley, of a certain an amount a output portion (8' ' ) moves along another line (second straight line), which is also tangential to the driven pulley, for a same movement amount, such that the total length of the tie-member (6) is unchanged.
摘要翻译：包括从动滑轮（11），卷绕在从动滑轮（11）上的柔性连接件（6），线性致动器（ 7）和反转机构（8）。特别地，相对于从动滑轮（11）定位成使得该方向与其大致相切的线性致动器（7）包括可动元件（10），该可动元件沿着根据两个相反的方向（10'），（10“）。反转机构是这样的，即，当输入部分（8'）沿着与从动滑轮相切的一条线（第一直线）移动一定量时，输出部分（8“）沿着另一条线（第二直线线）也与从动皮带轮相切，具有相同的运动量，使得系杆（6）的总长度不变。

5. 发明申请

WO2004059249A1 GONIOMETRIC SENSOR 审中-公开
标题翻译： GONIOMETRIC传感器
公开(公告)号：WO2004059249A1
公开(公告)日：2004-07-15
申请号：PCT/IB2002/005665
申请日：2002-12-30
申请人： SALSEDO, Fabio , ULLRICH, Guenther, Nino, Carlo , BERGAMASCO, Massimo , VILLELLA, Paolo
发明人： SALSEDO, Fabio , ULLRICH, Guenther, Nino, Carlo , BERGAMASCO, Massimo , VILLELLA, Paolo
IPC分类号： G01B21/22
CPC分类号： A61F2/68 , A61B5/1071 , A61B5/4528 , A61B5/6806 , A61B5/6824 , A61F2/583 , A61F2/586 , A61F2002/7625
摘要： A goniometric sensor (1) for measuring the relative rotation of two objects (20, 25) comprising a flexible elongated element (2) whose respective ends are connected to the two objects (20, 25) and during whose bending th length variation ΔL is determined of one of the fibres (15) not located at the neutral axis (10). This length variation ΔL is directly proportional to the relative rotation (α) between the two bodies (20, 25) multiplied for the eccentricity (e) of the fibre (15) with respect to the neutral axis (10). Therefore, it is possible to determine easily the relative rotation (α) by knowing the length of rest L and the eccentricity (e) with respect to the neutral axis (10) and to measure the length variation ΔL of fibre (15), for example measuring the movement of an end of a cable located in a hole that contains fibre (15).
摘要翻译：一种用于测量两个物体（20,25）的相对旋转的测角传感器（1），包括柔性细长元件（2），其相应的端部连接到两个物体（20,25），并且在其弯曲长度变化ΔL为确定不位于中性轴线（10）处的纤维（15）之一。该长度变化ΔL与纤维（15）相对于中性轴线（10）的偏心率（e）相乘的两个主体（20,25）之间的相对旋转（α）成正比。因此，可以通过了解静止长度L和相对于中性轴线（10）的偏心率（e）来容易地确定相对旋转（α），并且测量纤维（15）的长度变化量ΔL，对于测量位于包含纤维（15）的孔中的电缆的端部的运动的示例。

6. 发明申请

WO2012042416A2 DEVICE TO RELIEVE THE ARTICULAR EFFORTS RESULTING FROM THE WEIGHT OF A HUMAN LIMB 审中-公开
标题翻译：解决人类肢体重量造成的伤害的手段
公开(公告)号：WO2012042416A2
公开(公告)日：2012-04-05
申请号：PCT/IB2011/053986
申请日：2011-09-12
申请人： SCUOLA SUPERIORE S. ANNA , SALSEDO, Fabio , BERGAMASCO, Massimo , FONTANA, Marco
发明人： SALSEDO, Fabio , BERGAMASCO, Massimo , FONTANA, Marco
IPC分类号： A61H1/02
CPC分类号： A61H1/0274 , A61H1/0229
摘要： A device (1) for carrying out rehabilitation exercises, or training, of a limb, for example of the upper limb (40), of an operator (150). The device (1) comprises a fixed base (10) and a movable interaction element (60) arranged in contact and integral to a medial segment (42, 142), of the limb (40, 140), of the operator (150). In case of the upper limb (40) the medial segment, i.e. the forearm (42) of the operator (150), is set between elbow articulation (E) and the wrist articulation (W). The movable interaction element (60) and the base (10) are connected by a mechanism comprising a primary section Si equipped with, for example, of six pivot joints (21-26), connected by rigid links (12-16) and for moving the movable interaction element (60) in a workspace with respect to the fixed base (10). Furthermore, is provided a secondary section (S2), kinematically depending to the primary section (Si). The device (1) comprises, furthermore, a means for generating a vertical load (C) substantially fixed at a point (O3' ) integral to a link of the secondary section (S2). More in detail, the means (30' ) of generating the load (C) and said mechanism are adapted to apply a force vertical F proportional to the load (C), and therefore fixed, in a predetermined balance point (45).
摘要翻译：一种用于对操作者（150）的肢体（例如上肢）进行康复训练或训练的装置（1）。所述装置（1）包括固定基座（10）和与所述操纵器（150）的所述肢体（40,41）的内侧段（42,142）接触并且成一体的可移动相互作用元件（60）。在上肢（40）的情况下，内侧段即操作者（150）的前臂（42）设置在肘关节（E）和腕关节（W）之间。可移动相互作用元件（60）和底座（10）通过一种机构连接，该机构包括一个初级部分Si，该初级部分Si配备有例如六个枢轴接头（21-26），通过刚性连接件（12-16）连接，在可移动相互作用元件（60）相对于固定基座（10）的工作空间中移动。此外，提供了运动学上取决于初级部分（Si）的次级部分（S2）。此外，装置（1）还包括用于产生基本上固定在与次级部分（S2）的链路成一体的点（O3'）处的垂直载荷（C）的装置。更详细地，产生负载（C）和所述机构的装置（30'）适于施加与负载（C）成比例的力垂直F，因此固定在预定平衡点（45）中。

7. 发明申请

WO2010022982A1 METHOD FOR REMOTE MECHANISM ACTUATION AND EXOSKELETON APTIC INTERFACE BASED THEREON 审中-公开
标题翻译：远程机械执行方法及其基于APOS接口的方法
公开(公告)号：WO2010022982A1
公开(公告)日：2010-03-04
申请号：PCT/EP2009/006283
申请日：2009-08-31
申请人： SCUOLA SUPERIORE DI STUDI UNIVERSITARI S. ANNA , BERGAMASCO, Massimo , SALSEDO, Fabio , FONTANA, Marco
发明人： BERGAMASCO, Massimo , SALSEDO, Fabio , FONTANA, Marco
IPC分类号： B25J13/02 , G06F3/01
CPC分类号： B25J13/02 , B25J9/104
摘要： A method for actuating a mechanism adapted to impose a prefixed relative movement between said first rigid link (3) and said second rigid link (5). The mechanism comprises revolute joints and may be a parallelogram mechanism (10a, 10b), a pantograph remote centre of rotation mechanism (RCRM, 11 ), or a multiple-degrees-of-freedom mechanism (10c) thereof. The method allows reducing the torque requirements of the actuators and increasing the stiffness of the transmission, for a given required actuating torque/force, with no need of particularly cumbersome components proximate to moving parts. The method provides coaxially arranging at one or more selected revolute joint/s (37a-d, 47c-d) a number of idle pulleys (32a-d, 47a-f) which is greater than the number of degrees of freedom of the mechanism, the first of the selected revolute joint/s (37a, 47a) having preferably its rotation axis fixed with respect to the rigid link (3); the methods provides furthermore arranging an inextensible cable (33, 43) between a traction point (34, 44), e.g. a gripping point of an actuator, and a terminal point (36, 46) on the mechanism or on the second rigid link (5). By pulling the inextensible cable (33, 43) at the traction point (34, 44), a multiplied torque is produced which is the sum of singular torques produced by the inextensible cable (33, 43) at each idle pulley (32a-d, 47a-f), the multiplied torque causing a relative movement between the links (3, 5). The method provides arranging a further inextensible cable which forms contact arcs preferably symmetrically to said contact arcs about the same pulleys of the other cable, for bilaterally actuating the mechanism, i.e. causing opposite relative movements between the first and the second links (3, 5), which allows implementing such opposite limb movement as abduction/adduction of the phalanx of a finger. A hand exoskeleton that uses the method is preferably obtained by serially arranging two pantograph RCRM to implement proximal and medial phalanx and a crossed parallelogram mech. for implementing distal phalanx joints of at least a finger. In a mechanism like the one used for the cable used to actuate a more distal mechanism must cross more proximal mechanisms, which may occur in active, collaborating mode, or in a neutral mode.
摘要翻译：一种用于致动适于在所述第一刚性连杆（3）和所述第二刚性连杆（5）之间施加预定的相对运动的机构的方法。该机构包括旋转接头，并且可以是平行四边形机构（10a，10b），缩放远程旋转机构中心（RCRM，11）或其多自由度机构（10c）。该方法允许减小致动器的扭矩要求并且增加传动装置的刚度，对于给定的所需的致动扭矩/力，而不需要特别麻烦的组件接近运动部件。该方法在一个或多个选定的旋转接头（37a-d，47c-d）上同轴布置多个大于机构的自由度数的空转轮（32a-d，47a-f）所选择的旋转接头（37a，47a）中的第一个相对于刚性连杆（3）优选地具有固定的旋转轴线; 所述方法还提供了在牵引点（34,44）之间布置不可延伸的电缆（33,43），例如。致动器的夹持点以及机构上或第二刚性连杆（5）上的终点（36,46）。通过在牵引点（34,44）处拉动不可延伸的电缆（33,43），产生倍增的扭矩，其是在每个空转滑轮（32a-d）处由不可延伸的电缆（33,43）产生的奇异扭矩之和，47a-f），所述相乘的扭矩导致所述连杆（3,5）之间的相对运动。该方法提供了另外不可伸展的电缆，其形成接触弧，优选地对称地连接到另一电缆的相同滑轮上的所述接触弧，用于双向驱动机构，即在第一和第二连杆（3,5）之间产生相反的相对运动，，其允许实现与手指的指骨的外展/内收相反的肢体运动。使用该方法的手外骨骼优选通过串联布置两个受电弓RCRM来实现近侧和内侧指骨以及交叉平行四边形机械手来获得。用于实现至少手指的远端指骨关节。在类似于用于致动更远侧机构的电缆的机构中的机构必须穿过可能以活动协作模式或中立模式发生的近端机构。

8. 发明申请

WO2005046500A1 REMOTELY ACTUATED ROBOTIC WRIST 审中-公开
标题翻译：远程执行机器人手表
公开(公告)号：WO2005046500A1
公开(公告)日：2005-05-26
申请号：PCT/IB2004/003731
申请日：2004-11-15
申请人： BERGAMASCO, Massimo , SALSEDO, Fabio , SPINELLI, Stefano , FONTANA, Marco
发明人： BERGAMASCO, Massimo , SALSEDO, Fabio , SPINELLI, Stefano , FONTANA, Marco
IPC分类号： A61B19/00
CPC分类号： B25J9/0078 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2034/304 , A61B2034/305 , B25J9/0072 , B25J17/0266 , Y10T74/20335
摘要： Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element (3) mounted on a support (2) capable instantaneously to rotate with respect to a fixed member (5), for example by a ball joint (10) that allows three rotational degrees of freedom. In particular, the support (2) can be oriented with respect to the fixed member (5) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons (8), and causing the rotation of the suport (2) about the central post (5)by the ball joint (10). Alternatively, the support (2) can be oriented with respect to the fixed member (5) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.
摘要翻译：用于远程操作领域的远程操作机器手腕，例如用于微创手术操作，包括安装在能够相对于固定构件（5）瞬时旋转的支撑件（2）上的远侧元件（3），例如通过允许三个旋转自由度的球形接头（10）。特别地，支撑件（2）可以通过在偏心点中布置四个力（例如通过腱（8））而使冗余的致动系统相对于固定构件（5）定向，并且使得顶部的旋转（2）通过球窝接头（10）围绕中心柱（5）。或者，支撑件（2）可以通过将属于支撑件的移动球体的滚动再现到与固定构件成一体的固定球体上而相对于固定构件（5）定向。

9. 发明申请

WO2004058065A1 DEVICE FOR GIONIOMETRIC MEASUREMENTS 审中-公开
标题翻译：仪器测量仪器
公开(公告)号：WO2004058065A1
公开(公告)日：2004-07-15
申请号：PCT/IB2002/005666
申请日：2002-12-30
申请人： ULLRICH, Guenther, Nino, Carlo , SALSEDO, Fabio , BERGAMASCO, Massimo , VILLELLA, Paolo
发明人： ULLRICH, Guenther, Nino, Carlo , SALSEDO, Fabio , BERGAMASCO, Massimo , VILLELLA, Paolo
IPC分类号： A61B5/103
CPC分类号： A61B5/4528 , A61B5/1071 , A61B5/6824
摘要： A device (1) for measuring the relative orientation according to at least one degree of freedom fo two objects, comprising a constrainst generator (10) suitable for causing a goniometric sensor (40) to move in a plane, having the function of measuring the variation of relative orientation of the two objects in this plane. The goniometric sensor (40) is arranged in a housing (41) that crosses longitudinally the constraint generator (10), which has high flexional stiffness in a first longitudinal plane (β) and a low flexional stiffness in a second longitudinal plane (φ) orthogonal to the first (β). The sensor measures rotations in a plane and the constraint generator induces a rotation in that plane. With the device (1) a data suit (50) can be made for measuring the movement of limbs of an individual. For example, arranging three devices (10a, 10b, 10c) in series, but capable of measuring angles in orthogonal planes, the rotation can be measured of the arm (76) with respect to a shoulder (75) of an individual.
摘要翻译：一种用于根据两个物体的至少一个自由度测量相对取向的装置（1），包括适于使测角传感器（40）在平面内移动的约束产生器（10），具有测量该平面中两个物体的相对取向的变化。测角传感器（40）设置在纵向交叉约束发生器（10）的壳体（41）中，约束发生器（10）在第一纵向平面（β）中具有高挠曲刚度，在第二纵向平面（phi）中具有低的挠曲刚度，与第一（β）正交。传感器测量平面中的旋转，约束发生器在该平面中引起旋转。利用装置（1），可以制作数据套件（50）以测量个人的肢体的运动。例如，将三个装置（10a，10b，10c）串联布置但能够测量正交平面中的角度，可以相对于个体的肩部（75）测量臂（76）的旋转。

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