DEVICE TO RELIEVE THE ARTICULAR EFFORTS RESULTING FROM THE WEIGHT OF A HUMAN LIMB

摘要

A device (1) for carrying out rehabilitation exercises, or training, of a limb, for example of the upper limb (40), of an operator (150). The device (1) comprises a fixed base (10) and a movable interaction element (60) arranged in contact and integral to a medial segment (42, 142), of the limb (40, 140), of the operator (150). In case of the upper limb (40) the medial segment, i.e. the forearm (42) of the operator (150), is set between elbow articulation (E) and the wrist articulation (W). The movable interaction element (60) and the base (10) are connected by a mechanism comprising a primary section Si equipped with, for example, of six pivot joints (21-26), connected by rigid links (12-16) and for moving the movable interaction element (60) in a workspace with respect to the fixed base (10). Furthermore, is provided a secondary section (S2), kinematically depending to the primary section (S1). The device (1) comprises, furthermore, a means for generating a vertical load (C) substantially fixed at a point (O3') integral to a link of the secondary section (S2). More in detail, the means (30') of generating the load (C) and said mechanism are adapted to apply a force vertical F proportional to the load (C), and therefore fixed, in a predetermined balance point (45).