IT1264718B1 - Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzata - Google Patents
Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzataInfo
- Publication number
- IT1264718B1 IT1264718B1 IT93BO000397A ITBO930397A IT1264718B1 IT 1264718 B1 IT1264718 B1 IT 1264718B1 IT 93BO000397 A IT93BO000397 A IT 93BO000397A IT BO930397 A ITBO930397 A IT BO930397A IT 1264718 B1 IT1264718 B1 IT 1264718B1
- Authority
- IT
- Italy
- Prior art keywords
- force
- physiological
- physiological unit
- axes
- operator
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Abstract
Un dispositivo atto a fornire una retroazione di forza ad un'unità fisiologica, da utilizzarsi come interfaccia avanzata per macchine e calcolatori, comprende un esoscheletro includente elementi cinematici (7, 25, 34, 42, 56, 57) articolati secondo assi di articolazione disposti in coincidenza o in stretta prossimità degli assi fisiologici di articolazione dell'unità fisiologica quali, ad esempio, gli assi di flesso-estensione delle falangi delle dita di una mano di un operatore. Una serie di attuatori elettrici (11) comanda il grado di tensionamento di cavi di trazione (13) che applicano una forza di retroazione agli elementi cinematici e, di conseguenza, all'unità fisiologica, in modo da simulare un'interazione fra l'operatore ed un oggetto virtuale. Il dispositivo comprende mezzi sensori di posizione per rilevare la configurazione dell'unità fisiologica e mezzi sensori di forza per rilevare la forza ivi localmente applicata dagli attuatori comandati da un sistema di elaborazione.(Fig. 3).
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT93BO000397A IT1264718B1 (it) | 1993-10-08 | 1993-10-08 | Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzata |
CA002173749A CA2173749A1 (en) | 1993-10-08 | 1994-10-06 | A device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
DE69418217T DE69418217D1 (de) | 1993-10-08 | 1994-10-06 | Vorrichtung um ein kraftabhängiges rückführsignal an eine physiologische einheit durchzugeben, insbesondere für ein interface von maschinen und computern |
EP94928872A EP0740594B1 (en) | 1993-10-08 | 1994-10-06 | A device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
AU78119/94A AU7811994A (en) | 1993-10-08 | 1994-10-06 | A device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
US08/628,657 US5912658A (en) | 1993-10-08 | 1994-10-06 | Device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
PCT/EP1994/003311 WO1995010396A1 (en) | 1993-10-08 | 1994-10-06 | A device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT93BO000397A IT1264718B1 (it) | 1993-10-08 | 1993-10-08 | Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzata |
Publications (3)
Publication Number | Publication Date |
---|---|
ITBO930397A0 ITBO930397A0 (it) | 1993-10-08 |
ITBO930397A1 ITBO930397A1 (it) | 1995-04-08 |
IT1264718B1 true IT1264718B1 (it) | 1996-10-04 |
Family
ID=11339254
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
IT93BO000397A IT1264718B1 (it) | 1993-10-08 | 1993-10-08 | Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzata |
Country Status (7)
Country | Link |
---|---|
US (1) | US5912658A (it) |
EP (1) | EP0740594B1 (it) |
AU (1) | AU7811994A (it) |
CA (1) | CA2173749A1 (it) |
DE (1) | DE69418217D1 (it) |
IT (1) | IT1264718B1 (it) |
WO (1) | WO1995010396A1 (it) |
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JP6957036B2 (ja) * | 2016-03-09 | 2021-11-02 | 学校法人慶應義塾 | 位置・力制御装置 |
ITUA20163010A1 (it) * | 2016-04-29 | 2017-10-29 | Fondazione St Italiano Tecnologia | Esoscheletro sottoattuato bi-direzionale |
CN105997433A (zh) * | 2016-06-25 | 2016-10-12 | 哈尔滨鼎智瑞光科技有限公司 | 一种可自动调节式气动往复康复训练机械手 |
CN106078699B (zh) * | 2016-08-15 | 2018-06-22 | 黄河科技学院 | 手部减压机械外骨骼装置 |
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DE102019135836A1 (de) * | 2019-12-27 | 2021-07-01 | HTWK Leipzig Hochschule für Technik,Wirtschaft und Kultur Leipzig | Exoskelett und Verbindungskonstruktion und Bewegungsverfahren |
CN112515916A (zh) * | 2020-12-02 | 2021-03-19 | 上海市静安区中心医院(复旦大学附属华山医院静安分院) | 一种基于线驱动的刚柔式手部外骨骼 |
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-
1993
- 1993-10-08 IT IT93BO000397A patent/IT1264718B1/it active IP Right Grant
-
1994
- 1994-10-06 DE DE69418217T patent/DE69418217D1/de not_active Expired - Lifetime
- 1994-10-06 AU AU78119/94A patent/AU7811994A/en not_active Abandoned
- 1994-10-06 WO PCT/EP1994/003311 patent/WO1995010396A1/en active IP Right Grant
- 1994-10-06 CA CA002173749A patent/CA2173749A1/en not_active Abandoned
- 1994-10-06 US US08/628,657 patent/US5912658A/en not_active Expired - Lifetime
- 1994-10-06 EP EP94928872A patent/EP0740594B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
AU7811994A (en) | 1995-05-04 |
CA2173749A1 (en) | 1995-04-20 |
US5912658A (en) | 1999-06-15 |
ITBO930397A1 (it) | 1995-04-08 |
EP0740594A1 (en) | 1996-11-06 |
DE69418217D1 (de) | 1999-06-02 |
ITBO930397A0 (it) | 1993-10-08 |
WO1995010396A1 (en) | 1995-04-20 |
EP0740594B1 (en) | 1999-04-28 |
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Legal Events
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0001 | Granted | ||
TA | Fee payment date (situation as of event date), data collected since 19931001 |
Effective date: 19971031 |