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 13:
14. An exoskeletal system (300) for assistance of the movement of intra-extra rotation of a shoulder of a user comprising an exoskeleton according to claim 1,
said exoskeletal system (300) characterized in that said support frame (310) comprises:
a containment shell (311);
a weight balancing system comprising a slide (315) connected to at least one counterweight (316) by a pulley (317);
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 shoulder rotation axis (x), 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 second 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 third vertical rotation axis (z″) parallel to said first vertical rotation axis (z);
wherein said rotational joint of abdo-adduction (210) of said exoskeleton (200) is arranged in a plurality of relative spatial positions with respect to said containment shell (311),
said at least one counterweight (316) having a mass equal to a sum of masses of said kinematical chain (320) and of said exoskeleton (200), wherein said slide (315) maintains an equilibrium position along said first vertical rotation axis (z).