The present invention relates to a load compensation device (201, 301, 501, 601, 701, 901) comprising: an assisted joint (3; 302) configured to be constrained to a support structure (102, 104; 303; 702, 704); a main rod (304) comprising a proximal end (305) connected to the assisted joint (3; 302), and further comprising a distal end (306) configured to be stressed by an applied load (11); an auxiliary rod (307) comprising a first end (308) and a second end (309), the first end (308) being hinged on the main rod (304) for rotating said auxiliary rod (307) with respect to the main rod (304), the second end (309) being movable on a plane on which the applied load (11) lies; an elastic element (310, 910) configured to provide an elastic force which acts between the second end (309) of the auxiliary rod (307) and the distal end (306) of the main rod (304); a regulation system (313; 613) configured to modify a distance between the second end (309) of the auxiliary rod (307) and the assisted joint (3; 302), so as to vary a preloading of the elastic element (310, 910). The elastic element (310, 910) is configured to provide the elastic force based on a kinematic configuration of the load compensation device (201, 301, 501, 601, 701, 901), so as to compensate the applied load (11) in a component thereof which is transverse to the main rod (304). The present invention further refers to an exoskeleton (100; 700) comprising at least a load compensation device (201, 301, 501, 601, 701, 901).

LOAD COMPENSATION DEVICE, IN PARTICULAR OF GRAVITATIONAL LOADS, APPLICABLE TO EXOSKELETONS

F. Braghin;A. Pedrocchi;M. Gandolla;S. Dalla Gasperina;L. Aquilante;D. Ramirez;M. Tabaglio
2020

Abstract

The present invention relates to a load compensation device (201, 301, 501, 601, 701, 901) comprising: an assisted joint (3; 302) configured to be constrained to a support structure (102, 104; 303; 702, 704); a main rod (304) comprising a proximal end (305) connected to the assisted joint (3; 302), and further comprising a distal end (306) configured to be stressed by an applied load (11); an auxiliary rod (307) comprising a first end (308) and a second end (309), the first end (308) being hinged on the main rod (304) for rotating said auxiliary rod (307) with respect to the main rod (304), the second end (309) being movable on a plane on which the applied load (11) lies; an elastic element (310, 910) configured to provide an elastic force which acts between the second end (309) of the auxiliary rod (307) and the distal end (306) of the main rod (304); a regulation system (313; 613) configured to modify a distance between the second end (309) of the auxiliary rod (307) and the assisted joint (3; 302), so as to vary a preloading of the elastic element (310, 910). The elastic element (310, 910) is configured to provide the elastic force based on a kinematic configuration of the load compensation device (201, 301, 501, 601, 701, 901), so as to compensate the applied load (11) in a component thereof which is transverse to the main rod (304). The present invention further refers to an exoskeleton (100; 700) comprising at least a load compensation device (201, 301, 501, 601, 701, 901).
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1176369
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact