| 摘要 |
PCT No. PCT/EP94/03311 Sec. 371 Date Jun. 10, 1996 Sec. 102(e) Date Jun. 10, 1996 PCT Filed Oct. 6, 1994 PCT Pub. No. WO95/10396 PCT Pub. Date Apr. 20, 1995A device operable to supply a force feedback to a physiological unit to be used as an advanced interface for machines and computers, including an exoskeleton which includes kinematic elements articulated about articulation axes arranged coincident with or in close proximity to the physiological axes of the physiological unit such as, for example, the flexion-extension axes of the phalanges of the fingers of a hand of an operator. A series of electrical actuators controls the degree of tension on traction cables applying a force feedback to the kinematic elements and consequently to the physiological unit, so as to simulate an interaction between the operator and a virtual object. The device includes position sensors for detecting the configuration of the physiological unit and force sensors for measuring the strength of the force locally applied thereto by the actuators controlled by a processing system. |
