A physical Human-Robot Interface (pHRI) is configured for a passive lumbar exoskeleton that aids an operator in exerting effort. The pHRI includes connections to the operator's body using a posterior corset, lumbar belt, posterior support belt, and thigh cuff. The pHRI features rigid kinematic structures with passive degrees of freedom (pDOFs) that prevent displacements in the human-machine interface that could lead to misalignments of the joint rotation axis. The pHRI incorporates two posterior struts that bypass the human multi-articular kinematic chain of the lower and middle back, connecting the pelvis to the torso bilaterally and transferring assistance from the exoskeleton to the body. Additionally, the pHRI has linkages between the posterior struts and the rigid corset to ensure effective transmission of assistance.
An actuation unit is designed as a series elastic actuator having a brushless motor which transmits rotation and torque at the output shaft of the actuation apparatus through a gearbox. One or more torsional springs connect the motor and the gearbox to the actuation apparatus frame. The reaction torques generated by the gearbox and the motor induce a deformation of the torsional spring. The deformation is then read by a rotary encoder module that allows for computing the torque generated by the actuation apparatus.
An active pelvic orthosis (APO) has a physical Human-Robot interface (pHRi) adapted to adjust at different attachment points to accommodate a user's anthropometry to provide better torque about the hip flexion-extension joint during ambulation activities. The hip flexion-adjustment system is marked by at least four adjustment mechanisms, providing a means to better align the APO to a user's hip flexion-extension axis and maximize the stability and comfort of the pHRi of the APO.
An upper-limb exoskeleton (100) includes a compensation device (102) and a control system (104). The compensation device (102) has an elastic mechanism (112) configured to generate assistive torque about a joint rotation axis (A1). An active regulation system (116) comprising a servomotor (136), a worm gearbox (142), and a cam (158) modifies a distance between a first bracket assembly (126) and a second bracket assembly (128) to preload assistive torque. A selector system (114) adjusts the compensation device (102) between an unlock mode (167), a lock mode (169), and a transparent mode (171). The control system (104) computes and regulates assistive torque via a microcontroller (202) using open-loop current control and receives commands from a remote controller (118). The method and system provide adaptive control of assistive torque, enabling real-time adjustment, mode switching, and torque computation for ergonomic support during upper-limb exertion.
A compensation device (100) is arranged to provide assistive forces at an operator's hip joint in a passive lumbar exoskeleton (10). The compensation device (100) includes an assistive torque assembly (102) with a thigh link (104) that is rotatably connected. The assistive torque assembly (102) features a torque output mechanism (106) that moves an elastic mechanism (112) and includes an assistive regulation device (108) configured to preload a specific level of assistive torque supplied by the elastic mechanism (112). The torque output mechanism (106) contains an angular offset mechanism (114) that adjusts the angular engagement of the assistive torque, along with a torque profile modifier (115) that modifies the rate of deflection of the elastic mechanism (112). An exoskeleton (10) includes the compensation device (100), such that the compensation device (100) is configured to be worn by an operator through a physical human–robot interface (pHRI) (14).
An exoskeleton device includes components and/or systems for monitoring or regulating the performance of the exoskeleton. The components and systems include an integrated Internet of Thing (IoT) module that enables exoskeletons, either individually or collectively in a fleet, to provide users, operators, technicians, etc., with a cloud-based monitoring and maintenance management tool for observing data obtained from the IoT module of the exoskeleton and a fleet of such exoskeletons.
An actuation unit (100) designed as a Series Elastic Actuator (SEA) includes a casing (102), at least one elastic element (104), a reducer element (106) and a motor (108). The series elastic chain is composed mainly by the reduction stage casing (102) and the elastic element (104). The motor (108) is laterally arranged with respect to the reducer element (106) to minimize the axial encumbrance and linked with a transmission mechanism (107) to a reducer input shaft (128). Elasticity is obtained by the at least one elastic element (104) exerting a tangential force on a reducer holder (130) to emulate a torsional spring characteristic. The spring deformation can be measured in real-time by measuring the relative rotation between the casing (102) and the reducer holder (130) by an encoder (140).
An exoskeleton includes a frame; and an actuation system. The actuation system includes a transmission device; a passive joint mechanism connecting the frame to the transmission device, the passive joint mechanism having a four-bar linkage; and a drive system couples the passive joint mechanism to the transmission device, and is arranged to drive the transmission device.
An upper-body sensorized exoskeleton is configured to interface with external systems, such as FES, advanced cognitive systems, and VR/AR interaction programs, in order to facilitate rehabilitation and assistance of patients affected by upper-limb impairments. The sensorized upper limb exoskeleton delivers anti-gravitational support at the shoulder level, enables upper-limb configuration limits for shoulder and elbow ranges of motion, and reads kinematic data that may be analyzed by users and clinicians. The sensorized upper limb exoskeleton is equipped with electronic processing and communication means that support bidirectional communication between exoskeleton and external systems.
A system for assisting an operator in exerting efforts comprises a frame having one or more degrees of freedom and supporting a compensation device arranged to provide assistive forces to a joint of the operator. The compensation device comprises a regulation device comprising a motor arranged to adjust a degree of tension in an elastic mechanism. The regulation device receives instructions from a control system based on information obtained from an encoder or the operator's preferences recorded at a control panel.
A passive lumbar exoskeleton for assisting an operator in exerting efforts includes a compensation device arranged to provide assistive forces at a hip joint of the operator and a human-machine interface configured to secure the compensation device to the operator. The compensation device comprises an assistive torque assembly with a thigh link rotatably connected thereto. The thigh link defines a thigh cuff engageable by the operator to impose resistive moments on the compensation device. The assistive torque assembly comprises extension and flexion stop surfaces to define an allowed degree of motion for the compensation device, a transparent range mechanism defining a range of motion wherein the operator can move about with no assistive forces applied, and an assistance regulation device arranged to adjust the degree of tension in an elastic mechanism.
A physical Human-Robot Interface (pHRI) (101) for a passive lumbar exoskeleton (100) for assisting an operator in exerting efforts. The pHRI (101) includes connections to the body of an operator using a posterior corset (102), lumbar belt (104), posterior support belt (106), and thigh cuff (108). The pHRI (101) has rigid kinematic structures with passive degrees of freedom (pDOFs) that avoid human-machine interface displacements that cause joint rotation axis misalignments. The pHRI (101) has two posterior struts (110, 111) that bypass the human multi-articular kinematic chain of the lower and middle back, bilaterally connect the pelvis to the torso, and transfer assistance from the exoskeleton (100) to the body. The pHRI (101) features linkages (112, 113) between the posterior struts (110, 111) and the rigid corset (102) to guarantee transmission of assistance.
An active pelvic orthosis (APO) (100) has a physical Human-Robot interface (pHRi) (102) adapted to adjust at different attachment points to accommodate a user's anthropometry to provide better torque about the hip flexion-extension joint during ambulation activities. The hip flexion-adjustment system is marked by at least four adjustment mechanisms (180, 182, 184, 186), providing a means to better align the APO (100) to a user's hip flexion-extension axis and maximize the stability and comfort of the pHRi (102) of the APO (100).
An actuation unit (112) is designed as a series elastic actuator (SEA) having a brushless motor (13) which transmits rotation and torque at the output shaft (134) of the actuation apparatus (112) through a gearbox (132). One or more torsional springs (136) connect the motor (130) and the gearbox (132) to the actuation apparatus (112) frame (128). The reaction torques generated by the gearbox (132) and the motor (130) induce a deformation of the torsional spring (136). The deformation is then read by a rotary encoder module (144) that allows for computing the torque generated by the actuation apparatus (112).
A61H 1/00 - Appareils pour l'exercice passifAppareils vibrateursDispositifs de chiropractie, p. ex. dispositifs pour appliquer des chocs au corps, dispositifs externes pour étirer ou aligner de façon brève des os non fracturés
A torque generator device (200, 300) for a passive exoskeleton (100) that features a slider- crank mechanism (205, 305), an actuation mechanism (207, 307), and a zero-torque range (Z) for preventing the variation of torque generated by the actuation mechanism (207, 307) into a certain range. The slider-crank mechanism (205, 305) includes a crank (212, 312), at least one rod (216, 316, 317), and sliding member (222, 322) with a linear guide (224). The actuation mechanism (207, 307) includes an elastic member (230, 330), a cap (232, 332), and a linear guide (242, 342) that prevent variable deflection of the elastic member (230, 330).
A wearable robot, system and method are provided for correcting gait impairments, such as knee hyperextension, in a user. The wearable robot is an assistive lower-limb exoskeleton having a frame and an actuation system to generate an assistive force with timing, duration, and amplitude based on a gait impairment mitigation strategy.
An exoskeleton device includes components and/or systems for monitoring or regulating the performance of the exoskeleton. The components and systems include an integrated Internet of Thing (IoT) module that enables exoskeletons, either individually or collectively in a fleet, to provide users, operators, technicians, etc., with a cloud-based monitoring and maintenance management tool for observing data obtained from the IoT module of the exoskeleton and a fleet of such exoskeletons.
A system for assisting an operator in exerting efforts comprises a garment that can be worn by the operator, which is to engage, when worn, the mutually mobile parts of a joint of the operator. The system defines at least one axis of rotation that is to assume a position corresponding to the joint of the operator. A device is carried by the garment and designed to operate so as to compensate the resistive moments that act on the joint during the effort exerted by the operator. A compensation device is provided equipped with a rotational assembly, which has a neutral position and is able to determine a pre-set plot of the assisting torque that is a function of the angle of rotation of the joint. The compensation device may include a tension regulation device to regulate a moment obtained about the joint of the operator.
A61H 1/02 - Appareils d'exercice extenseurs ou de ployage
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
19.
SYSTEM FOR ASSISTING AN OPERATOR IN EXERTING EFFORTS
An exoskeleton system for assisting an operator in exerting efforts includes a frame having one or more degrees of freedom and supporting a compensation device arranged to provide assistive forces to a joint of the operator. The compensation device comprises a regulation device arranged to adjust a degree of tension in an elastic mechanism. The compensation device comprises a rotational stop assembly comprising both extension and flexion stops to define an allowed degree of motion of the compensation device, the rotational stop assembly provided with a safety lock for preventing movement in the compensation device.
A wearable robot and method for controlling the wearable robot having at least one leg unit involves: (a) obtaining at least one input signal from at least one encoder tracking a hip joint angle versus time with the at least one encoder attached to the wearable robot and corresponding to the at least one leg unit; (b) windowing the at least one input signal within a window size based on time versus the hip joint angle; (c) decomposing the at least one input signal with a Discrete Wavelet Transform (DWT); (d) identifying at least one gait event in a gait cycle by using the DWT; (e) computing temporal gait parameters based on the at least one gait event; (f) generating an assistive force in the at least one leg unit in response to the temporal gait parameters.
An exoskeleton device for outdoor activities includes means for preventing contamination and damage when used outdoors or in other rugged environments. The exoskeleton device includes a frame, one or more assistive devices, and a sizing component. One or more assistive devices may advantageously comprise components for mitigating the intrusion of and contamination by moisture, dirt, and other contaminants.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An upper-body sensorized exoskeleton (100) is configured to interface with external systems (600), such as FES, advanced cognitive systems, and VR/AR interaction programs, in order to facilitate rehabilitation and assistance of patients affected by upper-limb impairments. The sensorized upper limb exoskeleton (100) delivers anti-gravitational support at the shoulder level, enables upper-limb configuration limits for shoulder and elbow ranges of motion, and reads kinematic data that may be analyzed by users and clinicians. The sensorized upper limb exoskeleton (100) is equipped with electronic processing and communication means (602, 620) that support bidirectional communication between exoskeleton (600) and external systems (600).
A passive lumbar exoskeleton (100) for assisting an operator in exerting efforts includes a compensation device (102) arranged to provide assistive forces at a hip joint of the operator and a human-machine interface (110) configured to secure the compensation device (102) to the operator. The compensation device (102) comprises an assistive torque assembly (104) with a thigh link (106) rotatably connected thereto. The thigh link (106) defines a thigh cuff (108) engageable by the operator to impose resistive moments on the compensation device (102). The assistive torque assembly (104) comprises extension and flexion stop surfaces to define an allowed degree of motion for the compensation device (102), a transparent range mechanism (152) defining a range of motion wherein the operator can move about with no assistive forces applied, and an assistance regulation device (126) arranged to adjust the degree of tension in an elastic mechanism (138).
A wearable robot (1000), system and method are provided for correcting gait impairments,such as knee hyperextension, in a user. The wearable robot (1000) is an assistive lower-limb exoskeleton having a frame (1100, 1300, 1400) and an actuation system (1200) to generate an assistive force (F) with timing, duration, and amplitude based on a gait impairment mitigation strategy.
A system for assisting an operator in exerting efforts comprises a frame having one or more degrees of freedom and supporting a compensation device arranged to provide assistive forces to a joint of the operator. The compensation device comprises a regulation device comprising a motor arranged to adjust a degree of tension in an elastic mechanism. The regulation device receives instructions from a control system based on information obtained from an encoder or the operator's preferences recorded at a control panel.
An exoskeleton system (410) for assisting an operator in exerting efforts includes a frame (411) having one or more degrees of freedom and supporting a compensation device (450) arranged to provide assistive forces to a joint of the operator. The compensation device (450) comprises a regulation device (458) arranged to adjust a degree of tension in an elastic mechanism (456).The compensation device (450) comprises a rotational stop assembly (461) comprising both extension and flexion stops to define an allowed degree of motion of the compensation device(450), the rotational stop assembly (461) provided with a safety lock (480) for preventing movement in the compensation device (450).
A wearable robot and method for controlling the wearable robot having at least one leg unit involves: (a) obtaining at least one input signal from at least one encoder tracking a hip joint angle versus time with the at least one encoder attached to the wearable robot and corresponding to the at least one leg unit; (b) windowing the at least one input signal within a window size based on time versus the hip joint angle; (c) decomposing the at least one input signal with a Discrete Wavelet Transform (DWT); (d) identifying at least one gait event in a gait cycle by using the DWT; (e) computing temporal gait parameters based on the at least one gait event; (f) generating an assistive force in the at least one leg unit in response to the temporal gait parameters.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec une base de support et des jambes soulevées alternativement ou dans un ordre déterminéVéhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
A61H 1/02 - Appareils d'exercice extenseurs ou de ployage
28.
EXOSKELETON DEVICE FOR OUTDOOR ACTIVITIES AND COMPONENTS FOR USE THEREWITH
An exoskeleton device for outdoor activities includes means for preventing contamination and damage when used outdoors or in other rugged environments. The exoskeleton device includes a frame, one or more assistive devices, and a sizing component. One or more assistive devices may advantageously comprise components for mitigating the intrusion of and contamination by moisture, dirt, and other contaminants.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An exoskeleton includes a frame; and an actuation system. The actuation system includes a transmission device; a passive joint mechanism connecting the frame to the transmission device, the passive joint mechanism having a four-bar linkage; and a drive system couples the passive joint mechanism to the transmission device, and is arranged to drive the transmission device.
SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA (Italie)
IUVO S.R.L. (Italie)
Inventeur(s)
Baldoni, Andrea
Giovacchini, Francesco
Vitiello, Nicola
Abrégé
A kinematic chain comprises a first pulley, arranged to rotate about a rotation axis x, and a second pulley arranged to rotate about a rotation axis y. The kinematic chain comprises then at least one connecting element comprising at least one passage having at least one rotating element, said or each connecting element also comprising at least one interface arranged to connect the connecting element to an adjacent connecting element or to a pulley, generating a rotational constraint about a rotation axis z. The kinematic chain also comprises a transmission element arranged to develop along a determined path for transmitting a rotational motion between the first pulley and the second pulley. The transmission element is adapted to be, in use, fixedly in contact with said or each rotating element by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.
A system (410) for assisting an operator in exerting efforts comprises a frame (411) having one or more degrees of freedom and supporting a compensation device (450) arranged to provide assistive forces to a joint of the operator. The compensation device (450) comprises a regulation device (458) comprising a motor (480) arranged to adjust a degree of tension in an elastic mechanism (456). The regulation device (458) receives instructions from a control system (430) based on information obtained from an encoder (470) or the operator's preferences recorded at a control panel (496).
A system for assisting an operator in exerting efforts comprises a garment that can be worn by the operator, which is to engage, when worn, the mutually mobile parts of a joint of the operator. The system defines at least one axis of rotation that is to assume a position corresponding to the joint of the operator. A device is carried by the garment and designed to operate so as to compensate the resistive moments that act on the joint during the effort exerted by the operator. A compensation device is provided equipped with a rotational assembly, which has a neutral position and is able to determine a pre-set plot of the assisting torque that is a function of the angle of rotation of the joint. The compensation device may include a tension regulation device to regulate a moment obtained about the joint of the operator.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61H 1/02 - Appareils d'exercice extenseurs ou de ployage
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An exoskeleton (100) includes a frame (106); and an actuation system (104). The actuation system (104) includes a transmission device (114); a passive joint mechanism (110) connecting the frame (106) to the transmission device (114), the passive joint mechanism (110) having a four-bar linkage; and a drive system (112) couples the passive joint mechanism (110) to the transmission device (114), and is arranged to drive the transmission device (114).
SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA (Italie)
IUVO S.R.L. (Italie)
Inventeur(s)
Baldoni, Andrea
Giovacchini, Francesco
Vitiello, Nicola
Abrégé
A kinematic chain comprises a first pulley, arranged to rotate about a rotation axis x, and a second pulley arranged to rotate about a rotation axis y. The kinematic chain comprises then at least one connecting element comprising at least one passage having at least one rotating element, said or each connecting element also comprising at least one interface arranged to connect the connecting element to an adjacent connecting element or to a pulley, generating a rotational constraint about a rotation axis z. The kinematic chain also comprises a transmission element arranged to develop along a determined path for transmitting a rotational motion between the first pulley and the second pulley. The transmission element is adapted to be, in use, fixedly in contact with said or each rotating element by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.
A system for assisting an operator in exerting efforts comprises a garment (12) that can be worn by the operator, which is to engage, when worn, the mutually mobile parts of a joint of the operator. The system defines at least one axis of rotation (I3) that is to assume a position corresponding to the joint of the operator. A device is carried by the garment (12) and designed to operate so as to compensate the resistive moments that act on the joint during the effort exerted by the operator. A compensation device is provided equipped with a rotational assembly, which has a neutral position and is able to determine a pre-set plot of the assisting torque that is a function of the angle of rotation of the joint. The compensation device may include a tension regulation device to regulate a moment obtained about the joint of the operator.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
28 - Jeux, jouets, articles de sport
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Industrial robots; robotic arms for industrial purposes;
industrial robotic wearable exoskeletons; mechanical
wearable exoskeletons for industrial purposes; machines and
machine tools in the form of wearable exoskeletons for
making their use easier, more comfortable and efficient. Laboratory robots; humanoid robots with artificial
intelligence; robotic wearable exoskletons; wearable and
ergonomic robotic devices equipped with artificial
intelligence; wearable electronic robotic devices included
in this class; wearable electronic devices; wearable and
ergonomic electronic devices for monitoring, security,
measurement, transmission and storage of data. Surgical robots; robotic wearable exoskeletons for surgical
and medical purposes; robotic wearable exoskeletons and
mechanical exoskeletons for therapy, mobility aid, wellbeing
and reduction of the physical effort purposes; personal care
robots and robot devices. Machines, robots and mechanical devices for fitness and
physical training purposes; wearable exoskeletons for
fitness and physical training purposes. Engineering services relating to robotics and wearable
technology; robots and robotic wearable exoskeleton design,
research and development services; wearable technology
design, research and development services; wearable
mechanical machines and tools design, reasearch and
development; software design, research and development.
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Engineering services relating to robotics and wearable technology; Scientific research and design and product development in the fields of robots, robotic wearable exoskeleton, wearable technology, wearable mechanical machines and tools; software design, research and development
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Industrial robots; robotic arms for industrial purposes; industrial robotic wearable exoskeletons. Laboratory robots; humanoid robots with artificial intelligence; robotic wearable exoskeletons for scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signalling, checking (supervision), life-saving and teaching purposes; wearable and ergonomic electronic devices for monitoring, security, measurement, transmission and storage of data purposes. Surgical robots; Wearable robotic exoskeletons for use in the surgical and medical field for therapeutic purposes, for aiding mobility, for personal wellbeing and for reducing physical effort. Engineering services relating to robotics and wearable technology; robots and robotic wearable exoskeleton design, research and development services; wearable technology design, research and development services.
39.
KINEMATIC CHAIN FOR TRANSMISSION OF MECHANICAL TORQUES
SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA (Italie)
IUVO S.R.L. (Italie)
Inventeur(s)
Baldoni, Andrea
Giovacchini, Francesco
Vitiello, Nicola
Abrégé
A kinematic chain (100) comprises a first pulley (110), arranged to rotate about a rotation axis x, and a second pulley (120), arranged to rotate about a rotation axis y. The kinematic chain (100) comprises then at least one connecting element (130) comprising at least one passage (131) having at least one rotating element (132), said or each connecting element (130) also comprising at least one interface (135,136) arranged to connect the connecting element (130) to an adjacent connecting element (130) or to a pulley (110,120), generating a rotational constraint about a rotation axis z. The kinematic chain (100) also comprises a transmission element (140) arranged to develop along a determined path for transmitting a rotational motion between the first pulley (110) and the second pulley (120). The transmission element (140) is adapted to be, in use, fixedly in contact with said or each rotating element (132) by a constraint of rolling friction, in order to allow a modelling the determined path according to a predetermined geometry.
