US 12,343,867 B1
Actuation system in an exoskeleton
Matteo Moise, Pontedera (IT); Marco Muscolo, Pontedera (IT); Francesco Giovacchini, Pontedera (IT); and Nicola Vitiello, Pontedera (IT)
Assigned to IUVO S.R.L., Pontedera (IT)
Filed by IUVO S.R.L., Pontedera (IT)
Filed on Apr. 3, 2024, as Appl. No. 18/625,416.
Application 18/625,416 is a continuation of application No. 17/051,975, granted, now 11,975,449, previously published as PCT/IB2019/053598, filed on May 2, 2019.
Claims priority of provisional application 62/665,805, filed on May 2, 2018.
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/10 (2006.01); B25J 9/00 (2006.01)
CPC B25J 9/0006 (2013.01) [B25J 9/106 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An actuation system in an exoskeleton, comprising:
a transmission device including first and second pivot plates are located and pivotable about first and second axes, the second pivot plate is driven by at least one link secured to the first pivot plate;
a passive joint mechanism connecting to the transmission device, the passive joint mechanism having a four-bar linkage;
a drive system couples the passive joint mechanism to the transmission device, and is arranged to actuate the first pivot plate of the transmission device;
wherein the four-bar linkage has a first link and a second link, the second link having a greater width than a width of the first link, the second link comprising a range-of-motion stop defined along a length thereof.