US 12,318,923 B2
System for assisting an operator in exerting efforts
Matteo Moise, Ponte Buggianese (IT); Luca Morelli, Leghorn (IT); Francesco Giovacchini, Pisa (IT); Nicola Vitiello, Pontedera (IT); and Giuseppe Colombina, Nova Milanese (IT)
Assigned to IUVO S.R.L., Pontedera (IT)
Filed by IUVO S.R.L, Pontedera (IT)
Filed on Sep. 27, 2023, as Appl. No. 18/475,844.
Application 18/475,844 is a continuation of application No. 16/631,226, granted, now 11,801,596, previously published as PCT/IB2018/054513, filed on Jun. 19, 2018.
Claims priority of application No. 102017000081177 (IT), filed on Jul. 18, 2017.
Prior Publication US 2024/0017397 A1, Jan. 18, 2024
Int. Cl. B25J 9/00 (2006.01); A61H 1/02 (2006.01); A61H 3/00 (2006.01); B25J 19/00 (2006.01)
CPC B25J 9/0006 (2013.01) [A61H 3/00 (2013.01); A61H 1/024 (2013.01); A61H 1/0281 (2013.01); A61H 2201/165 (2013.01); B25J 19/0016 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A compensation device in a system for assisting an operator in exerting efforts by a joint of the operator, the compensation device comprising:
a first rotatable member arranged to rotate about a first axis of rotation;
a second rotatable member arranged to rotate about a second axis of rotation, wherein the first rotatable member is connected to the second rotatable member;
an elastic mechanism having at least one elastic element arranged for exerting an elastic force on the second rotatable member to impart on the first axis of rotation a moment opposite to resistive moments acting on a joint of the operator;
wherein the first and second rotatable members and the elastic mechanism are arranged in at least one pre-set position, such that a force exerted by the elastic mechanism on the second rotatable member is oriented in a direction incident with respect to the second axis of rotation of the second rotatable member;
wherein the compensation device includes an epicyclic gear train mounted at the first axis of rotation including a crown wheel or central gear wheel defining the first rotatable member; and
wherein the second rotatable member includes a planetary-gear carrier wherein the elastic mechanism engages the planetary-gear carrier, and is arranged to exert a linear force on an eccentric point thereof.