Classifications

• • 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
• • 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
  • A61H2201/12—Driving means
  • A61H2201/1207—Driving means with electric or magnetic drive
• • 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
  • A61H2201/12—Driving means
  • A61H2201/1207—Driving means with electric or magnetic drive
  • A61H2201/1215—Rotary drive
• • 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
  • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
  • A61H2201/1481—Special movement conversion means
  • A61H2201/149—Special movement conversion means rotation-linear or vice versa
• • 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
  • A61H2201/1635—Hand or arm, e.g. handle
• • 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
• • 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
  • A61H2201/1657—Movement of interface, i.e. force application means
  • A61H2201/1676—Pivoting
• • 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
  • A61H2205/00—Devices for specific parts of the body
  • A61H2205/06—Arms
  • A61H2205/065—Hands
  • A61H2205/067—Fingers

Definitions

• the present invention relates to the field of haptic devices usable in teleoperation systems, virtual reality or augmented reality, and orthopedic and neurological rehabilitation systems.
• the invention relates to an exoskeletal system comprising interchangeable modules to be applied to the hand of a user.
• Haptic devices allow the user to interact with virtual environments by means of sensory feedback.
• tactile haptic devices capable of returning tactile sensations proper, such as texture, roughness, vibrations, temperature, etc.
• kinesthetic haptic devices capable of returning sensations of strength and torque, or information relating to shape, size, weight, compliance of the material, etc.
• Kinesthetic haptic exoskeletal devices are frequently used in the field of augmented reality or teleoperation, or as real "assistants" to clinicians and physiotherapists in applications that pursue the evaluation and/or functional recovery as a result of orthopedic and neurological trauma. These provide for a simultaneous control of the position and force/torque, so as to exercise different reactions towards the user depending on the forces that the user exerts and depending on the position in which he is. This process is virtually identical to that practiced by the physiotherapist and is based on the same ability to perceive the patient's ability and strength, supporting him, guiding him, exerting appropriate forces and opposing appropriate resistances where necessary with continuous adaptations.
• the device has a variable virtual weight until it is transparent, that is until it moves under the action of the patient without the patient perceiving the weight to be moved. Finally, it can act as a force multiplier, where necessary, or initiate, and possibly complete, the movement if the patient is not able.
• JP2001166676A discloses an augmented reality tactile simulation system comprising a haptic glove actuation mechanism that uses cables for force transmission.
• JP2001166676A does not provide a quick coupling mechanism between actuation and glove, but only a safety system.
• Document W02011117901 describes a hand rehabilitation device comprising a quick coupling and release system of the flexible rods that guide the fingers of the hand with respect to the actuation unit that controls them, so as to be able to change the exoskeletal glove by adapting the system to various anthropometric measures.
• this system comprising a soft type exoskeleton, is limited to the transmission of linear forces and does not allow the transmission of a torque.
• Fig. 1 shows a perspective view of a possible embodiment of the modular exoskeletal system comprising also the actuation unit;
• Fig. 2A shows in detail some components of the modular exoskeletal system OF Fig. 1 in the not actuated configuration;
• Fig. 2B shows in detail the components of the modular exoskeletal system OF Fig. 2A in the actuated configuration
• Fig. 3A shows in detail the locking device
• Figs. 3B and 3C show in detail the pulley and the Bowden cable to it connected;
• Figs. 4A and 4B show a first embodiment of the quick coupling means
• Figs. 5A and 5B show a second embodiment of the quick coupling means
• Figs. 6A and 6B show a third embodiment of the quick coupling means
• Figs. 7A and 7B show a possible embodiment of the quick coupling means of the locking device
• Figs. 8A and 8B show a possible embodiment of the quick coupling means of the locking device
• Figs. 9A and 9B show a possible embodiment of the quick coupling means of the locking device
• Figs. 10A and 10B show an embodiment of the quick coupling means wherein a cam mechanism is provided to facilitate the assembly and disassembly of the exoskeleton;
• Fig. 11 shows a possible coupling system between the finger exoskeleton and the support plate;
• Fig. 12 shows an exoskeletal system, similar to the embodiment of Fig. 1, comprising 3 finger exoskeletons.
• a modular hand exoskeletal system 100 for handling at least one hand finger of a user comprises an actuation unit 110 and at least one finger exoskeleton 120.
• the system 100 may also comprise a support plate 140 arranged to fasten one or more finger exoskeletons 120 to the user's hand.
• the finger exoskeleton comprises a number m > 1 of link 125 arranged to rotate about a number n > 1 of respective rotational joints 121 for transmitting at least one actuation torque M from a fastening link 125' to the hand finger 10.
• the actuation unit 110 comprises an actuator 111 adapted to generate the actuation torque M to be transmitted to the fastening link 125' through one or two Bowden cables 112.
• each Bowden cable 112 comprises, as well known, an inner cable 112a and an outer coating 112b.
• the actuation unit also comprises a locking device 113 that, by means of the two apertures 113' obtained by the union of two portions 113a and 113b, allows to lock the end of the outer coatings 112b and to instead make the inner cable 112a to slide.
• the modular hand exoskeletal system 100 then comprises quick coupling means arranged to cause the modular exoskeletal system 100 to pass between an actuated configuration, wherein the actuation unit 110 is connected to the finger exoskeleton 120 for transmitting the actuation torque M to the fastening link 125', and a not actuated configuration, wherein the actuation unit 110 is disconnected by the finger exoskeleton 120.
• the quick coupling means comprises a transmission element 130, steadily connected to at least one inner cable 112a, and arranged to reversibly connect to the fastening link 125' generating a rotoidal interlocking constraint.
• the transmission element 130 is connected to the fastening link 125' and the rotoidal interlocking constraint allows the transmission of the actuation torque M rotating the fastening link 125' about its rotation axis x.
• the transmission element 130 is a pulley that is adapted, in the actuated configuration, to be rotated by the inner cables 112a to rotate the fastening link 125' about a rotation axis x .
• the present invention therefore allows both to facilitate the wearing of the exoskeleton 120, and to be able to quickly replace it according to the anthropometric measurements of the user's hand.
• the invention makes it possible to maintain the pre-set tension on the cable unchanged and to avoid the need for a new adjustment of the tension of the cable at each disconnection and reconnection of the exoskeleton 120.
• the pulley 130 to which the Bowden cables 112 are connected, comprises a plurality of elongated elements 131, in particular pins.
• Such pulley 130 is connected by means of magnetic force to the fastening rotational joint 121', allowing the transmission of the actuation torque M to the fastening link 125' thanks to the pins 131 which are inserted into the holes 126' generating the rotoidal interlocking constraint.
• Figures 4A, 4B, 5A, 5B, 6A and 6B show three embodiments of the quick coupling means, alternative with respect to that of Figs. 1 to 3B, both in the actuated configuration and in the not actuated configuration.
• the transmission element 130 is a pulley comprising two portions 130a and 130b arranged to connect to lock the ends 112a of the inner cables 112a to the pulley 130.
• the transmission element 130 is a pulley comprising two portions 130a and 130b arranged to connect to lock the ends 112a of the inner cables 112a to the pulley 130.
• elongated elements 131 are provided, such as pins or screws, arranged, in the actuated configuration, to be inserted into the holes 126', generating the rotoidal interlocking constraint, for transmitting the actuation torque M to the fastening link 125'.
• the transmission element 130 is a shaped element comprising two portions 130a and 130b, arranged to connect to lock the ends 112a of the inner cables 112a.
• the fastening link 125' comprises a receiving element 130c having complementary geometry with respect to the transmission element 130.
• the portion 130a comprises a tooth 131a that is adapted, in the actuated configuration, to be inserted into the hole 126a', generating the rotoidal interlocking constraint, for transmitting the actuation torque M to the fastening link 125'.
• the transmission element 130 in the actuated configuration, can be constrained to the fastening link 125'by means of magnets 135 arranged to produce a magnetic force acting in a direction parallel to the rotation axis x.
• FIGS. 7A, 7B, 8A and 8B two possible embodiments of the quick coupling means are shown that allow the easy connection of the locking device 113 to an engagement portion 129 of the finger exoskeleton 120.
• a "snap fit" system is provided, while in Figs. 8A and 8B pins 114 are provided connected to the locking device 113 and arranged to fit into the grooves 129'.
• the engagement portion 129 defines an engagement axis y at which the locking device 113 is adapted to engage.
• Such engagement axis y is arranged at a determined distance D by the rotation axis x, in order to allow, at the moment of quick coupling, to provide a tension to the inner cables 112a such as to allow a prompt transmission of the actuation torque M to the pulley 130.
• adjustment means can also be provided arranged to translate the engagement axis y for adjusting the distance D.
• a cam mechanism 115 is provided to facilitate the assembly and the disassembly of the exoskeleton 110.
• the cam mechanism 115 passes between a release configuration (Fig. 10A), in which the cables 112a are loosened, and an operating configuration (Fig. 10B), in which the cables have the optimal tension to actuate the exoskeleton 120.
• a support plate 140 is also provided arranged to be integrally constrained to the hand of the user and to allow a removable connection with the finger exoskeleton 120.
• the finger exoskeleton 120 is rotoidally connected by inserting the pin 128 in one of the holes 142 by means of magnets 150. This way, the exoskeleton 120 can rotate about its axis z following the adduction and abduction movements of the finger.
• the plate comprises an iron- magnetic plate 141 arranged to attract the magnets 151 integral with the exoskeleton 120.
• Fig. 12 shows an embodiment of the modular exoskeletal system 100 (the actuation unit is not shown for simplicity) wherein the support plate 140 is connected to the palm of the user's hand and two finger exoskeletons 120 are connected to it.
• a third finger exoskeleton 120 for thumb is also provided having its own support plate 140' independent from the other fingers. This allows adjusting the plane of opposition of the thumb with respect to the other fingers.

Applications Claiming Priority (2)

Publications (1)

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ID=70295943

Family Applications (1)

Country Status (3)

Families Citing this family (1)

Family Cites Families (12)

• 2020
  • 2020-01-29 IT IT102020000001738A patent/IT202000001738A1/it unknown
• 2021
  • 2021-01-29 WO PCT/IB2021/050706 patent/WO2021152523A1/en unknown
  • 2021-01-29 EP EP21707367.5A patent/EP4096612A1/en active Pending

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