| 摘要 |
A device operable to supply a force feedback to a physiological unit, to be used as an advanced interface for machines and including an exoskeleton which includes kinematic elements (7, 25, 34, 42, 56, 57) 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 (11) controls the degree of tension on traction cables (13) 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 sensor means for detecting the configuration of the physiological unit and force sensor means for measuring the strength of the force locally applied thereto by the actuators controlled by actuators processing system. |
