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1. (WO2017194527) A TASK-CUSTOM FINGER DEVICE FOR KINESTHETIC AND CUTANEOUS FEEDBACK

Pub. No.:    WO/2017/194527    International Application No.:    PCT/EP2017/061032
Publication Date: Fri Nov 17 00:59:59 CET 2017 International Filing Date: Wed May 10 01:59:59 CEST 2017
IPC: B25J 9/00
A61H 1/02
B25J 13/02
Applicants: UNIVERSITÀ DEGLI STUDI DI SIENA
Inventors: PRATTICHIZZO, Domenico
MALVEZZI, Monica
CHINELLO, Francesco
PACCHIEROTTI, Claudio
Title: A TASK-CUSTOM FINGER DEVICE FOR KINESTHETIC AND CUTANEOUS FEEDBACK
Abstract:
A finger exoskeleton device (1) providing both kinesthetic stimuli along the finger and three-dimensional cutaneous force on the fingertip surface, either generated independently to each other or at the same time, which can be used for rehabilitation purposes, teleoperation, telecommuting, gaming, comprises a proximal portion, apt to be worn at the first phalanx of a finger, and a fingertip portion, apt to be fixed to a distal phalanx and provided with a distal clamp (2), wherein the proximal portion comprises a proximal servomotor (4), acting on a link (6) having an elongated rod (7) connected to said fingertip portion, and at least one potentiometer (11) to sense the rotation of said link (6) with respect to the proximal portion. The fingertip portion comprises three different distal servomotors (22, 23, 24), displaced to form a triangle by their respective axes, and a platform (28) rotatably linked to the axes of said distal servomotors (22, 23, 24) through the respective rigid and articulated arms (25, 26), the platform (28) being positioned to contact the finger pulp.