ERGONOMIC EXOSKELETON SYSTEM FOR THE UPPER LIMB

摘要

Kinematic chain (100) arranged to pivotally connect a first element (101) to a second element (102), said first element (101) comprising two pivot points A1 and B1 located at a distance formula (I) said second element (102) comprising two pivot points A2 and B2 located at a distance formula (II). The kinematic chain (100) comprises a first external link (111) pivotally connected to the first element (101) at the pivot point A1 and a first end link (121) pivotally connected to the first external link (111) at a pivot point D1, said pivot point D1 being located at a distance formula (III) by the pivot point A1. The kinematic chain (100) comprises then a second external link (112) pivotally connected to the second element (102) at the pivot point A2, and a second end link (122) pivotally connected to the second external link (112) at a pivot point D2, said pivot point D2 being located at a distance formula (IV) by the pivot point A2. The kinematic chain (100) also comprises a first intermediate link (131) pivotally connected to the first element (101) at the pivot point B1 and integrally connected to the second end link (122) at a junction point C2, a second intermediate link (132) pivotally connected to the second element (102) at the pivot point B2 and integrally connected to the first end link (121) at a junction point C1. The first and the second end link (121,122) are pivotally connected to each other at a pivot point M. Defining formula (V), for any value of θ, the projections of the pivot points A1, B1, A2, B2 in a plane Π, lay in a circumference K having center 0 and radius formula (VI), in such a way that decreasing the value of θ the first and the second element (101,102) rotate with respect to each other about an axis z orthogonal to the plane Π and passing through the center 0 in the direction for which the point A1 is overlapped to the point B2.