US 11,872,176 B2
Exoskeleton for upper arm
Andrea Baldoni, Pisa (IT); Matteo Moisé, Ponte Buggianese (IT); Simona Crea, Lucca (IT); Emilio Trigili, Buccheri (IT); Mario Cortese, Pisa (IT); Nicola Vitiello, Pontedera (IT); and Francesco Giovacchini, Pisa (IT)
Assigned to SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA, Pisa (IT)
Appl. No. 16/611,255
Filed by SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA, Pisa (IT)
PCT Filed May 7, 2018, PCT No. PCT/IB2018/053151
§ 371(c)(1), (2) Date Nov. 6, 2019,
PCT Pub. No. WO2018/207073, PCT Pub. Date Nov. 15, 2018.
Claims priority of application No. 102017000049732 (IT), filed on May 8, 2017.
Prior Publication US 2020/0155406 A1, May 21, 2020
Int. Cl. A61H 1/02 (2006.01); B25J 9/00 (2006.01); B25J 9/06 (2006.01)
CPC A61H 1/0281 (2013.01) [A61H 1/0274 (2013.01); B25J 9/0006 (2013.01); B25J 9/0045 (2013.01); A61H 2201/0149 (2013.01); A61H 2201/149 (2013.01); A61H 2201/1659 (2013.01); A61H 2201/1673 (2013.01); B25J 9/0048 (2013.01); B25J 9/06 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An exoskeleton for assistance of movement of intra-extra rotation of a shoulder of a user comprising: a support frame (310) connected to a kinematical chain (320) and a rotational joint of intra-extra rotation (100), said rotational joint (100) comprising:
a first circular guide (110) arranged to rotate about a first rotation axis (r);
a second circular guide (120) arranged to rotate about a second rotation axis (r′) aligned with said first rotation axis (r);
a support element (130) arranged to support said first and said second circular guide (110, 120);
wherein the first and said second circular guide (110,_120) are pivotally connected by a conical wheel (140) having a third rotation axis (s) perpendicular to said first and second rotation axes (r) and (r′), said first and second circular guide (110, 120) pivotally constraining said conical wheel (140) to said support element (130),
wherein said conical wheel (140) is rotatable about said third rotation axis (s) by a first degree of rotation (θ), said first circular guide (110) is rotatable about said first rotation axis (r) by a second degree of rotation (φ), and said second circular guide (120) is simultaneously rotatable about said second rotation axis (r′) by a third degree of rotation (φ′=−αφ, where α is a positive real number).