| 摘要 |
A robotic device (100) for generating forces to assist or to resist the movement of the human body comprises a frame (110) that has a fixed point (A) and an articulation point (0) arranged at a predetermined mutual distance (a1), and a proximal arm (120), pivotally connected to the frame (110) at the articulation point (0). The proximal arm (120) has a loading point (O' ) arranged at a predetermined distance (L1) from the articulation point (0) along a proximal axis (125) having a predetermined direction (x). The proximal axis (125) is adapted to carry out a first rotation of a predetermined amplitude (&thetas;1) in the plane (n) that contains the fixed point (A) and the proximal axis (125). The robotic device (100) also comprises an elongated resilient proximal element (160) that has a predetermined stiffness (k1) and that is constrained to proximal arm (120) and to the frame (110), in order to generate an interaction moment (Mini) with respect to the articulation point (0). The interaction moment (Min1) acts on the proximal arm (120) and is configured to generate an interaction force (Fin1) on the proximal arm (120) parallel to the direction (y) and applied to the loading point (&Ogr;' ). The robotic device (100) also comprises a carriage (111) that is slidingly arranged on the proximal arm (120) and that has a first balancing point (B) arranged on the proximal axis (125) and arranged at a predetermined balancing distance (b1) from the articulation point (0). The carriage (111) is arranged to move along the proximal axis (125), in order to adjust the balancing distance (bi). An adjusting means is provided (112, 112', 113, 113', 114) arranged to actuate automatically the carriage (111) along the proximal axis (125). |
