Importance

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Abstract

Exoskeleton kinematic chain arranged to pivotally connect a first element to a second element, said first element comprising two pivot points A₁ and B₁ located at a distance A1B1, said second element comprising two pivot points A₂ and B₂ located at a distance A2B2. The exoskeleton kinematic chain comprises a first external link pivotally connected to the first element at the pivot point A₁ and a first end link pivotally connected to the first external link at a pivot point D₁, said pivot point D₁ being located at a distance A1D1 by the pivot point A₁. The exoskeleton kinematic chain comprises then a second external link pivotally connected to the second element at the pivot point A₂, and a second end link pivotally connected to the second external link at a pivot point D₂, said pivot point D₂ being located at a distance A2D2 by the pivot point A₂. The exoskeleton kinematic chain also comprises a first intermediate link pivotally connected to the first element at the pivot point B₁ and integrally connected to the second end link at a junction point C₂, a second intermediate link pivotally connected to the second element at the pivot point B₂ and integrally connected to the first end link at a junction point C₁. The first and the second end link are pivotally connected to each other at a pivot point M. Defining ==θ, for any value of θ, the projections of the pivot points A₁, B₁, A₂, B₂ in a plane Π, lay in a circumference K having center O and radius r=A1D1=A2D2=D1B2=MB2=D2B1=MB1, in such a way that decreasing the value of θ the first and the second element rotate with respect to each other about an axis z orthogonal to the plane Π and passing through the center O in the direction for which the point A₁ is overlapped to the point B₂.

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First Claim