Patent ID: 11872176
Assignee: SCUOLA SUPERIORE DI STUDI UNIVERSITARI E PERFEZIONAMENTO SANT'ANNA
Field: Handling (Mechanical engineering)
Classification: CPC A  B | IPC A  B

Claim 15:
16. The exoskeleton, according to claim 1, wherein the support frame (310) is arranged to place the rotational joint of intra-extra rotation (100) in a plurality of relative spatial positions with respect to an outer support (400), said support frame (310) characterized in that it comprises:
a containment shell (311)
a weight balancing system comprising a slide (315);
the kinematical chain (320) comprising:
a first link (321) connected to said slide (315) through a first rotational joint (321′) having
a first vertical rotation axis (z) orthogonal to a second vertical rotation axis (x), said second vertical rotation axis (x) arranged in a horizontal plane (π) adapted to pass through an anatomical joint of a shoulder of a user, said slide (315) arranged to allow a translation of said first rotational joint (321′) along said first vertical rotation axis (z) with respect to said containment shell (311);
a second link (322) connected to said first link (321) through a second rotational joint (322′) having a third vertical rotation axis (z′) parallel to said first vertical rotation axis (z), said second link (322) being connected to a rotational joint of abdo-adduction (210) of said exoskeleton by a third rotational joint (323′) having a fourth vertical rotation axis (z″) parallel to said first vertical rotation axis (z);
wherein said rotational joint of abdo-adduction (210) is connected to the rotational joint of intra-extra rotation (100) so that the rotational joint of intra-extra rotation (100) is disposable in a plurality of relative spatial positions with respect to said containment shell (311);
wherein said first rotational joint (321′) facilitates a rotation of 180° about said first vertical rotation axis (z) for positioning said rotational joint of intra-extra rotation (100) near left and right upper limbs of the user to assist the movement of both the left and right upper limbs of the user;
wherein the support frame (310) comprises an engagement system (330) connected to the containment shell (311) and arranged to engage the support frame (310) to the outer support (400).