US 12,240,108 B2
System for assisting an operator in exerting efforts
Francesco Giovacchini, Pontedera Pisa (IT); Matteo Moise, Pontedera Pisa (IT); Giulio Proface, Pontedera Pisa (IT); Luca Morelli, Pontedera Pisa (IT); and Nicola Vitiello, Pontedera Pisa (IT)
Assigned to IUVO S.R.l., Pontedera (IT)
Appl. No. 17/594,312
Filed by IUVO S.R.L, Pontedera (IT)
PCT Filed Apr. 22, 2020, PCT No. PCT/IB2020/053821
§ 371(c)(1), (2) Date Oct. 11, 2021,
PCT Pub. No. WO2020/217191, PCT Pub. Date Oct. 29, 2020.
Claims priority of provisional application 62/836,967, filed on Apr. 22, 2019.
Prior Publication US 2022/0161415 A1, May 26, 2022
Int. Cl. B25J 9/00 (2006.01); A61H 1/02 (2006.01)
CPC B25J 9/0006 (2013.01) [A61H 1/0281 (2013.01); A61H 2201/0176 (2013.01); A61H 2201/0192 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/1614 (2013.01); A61H 2201/1619 (2013.01); A61H 2201/1623 (2013.01); A61H 2201/1628 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1676 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An exoskeleton system arranged to be worn by an operator and assume a position corresponding to a joint of the operator, the exoskeleton system comprising:
a compensation device operable to compensate resistive moments acting on the joint during an effort exerted by the operator, the compensation device comprising:
a first rotatable member and a second rotatable member engaging the first rotatable member at an engagement portion and arranged to be brought into relative motion about a first axis of rotation as a result of movement of the joint of the operator, the second rotatable member rotatable about a second axis of rotation;
an elastic mechanism defining a first end connecting to the second rotatable member to impart on the first axis of rotation a moment opposite to the resistive moments; and
a regulation device connecting to a second end of the elastic mechanism for adjusting tension in the elastic mechanism by adjusting a length of the elastic mechanism between the first and second ends thereof;
a motor connected to the elastic mechanism and arranged for linearly adjusting the length of the elastic mechanism;
wherein the regulation device includes a linkage assembly having a first portion connected to the motor, a central portion pivotally connected to the elastic mechanism and a second portion slidably connected to a casing of the compensation device.