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Articolazioni motorizzate Invasatura

Elettrodi

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• •

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Trunk

Terminal Device Forearm Upper Arm Socket Elbow Shoulder Pronosupination Unit Passive joint Active joint

e noizanipus -onorp id àtinU otimoG

ehcitatsotenic e ehcitamenic inoizalumiS
θ1

G1
θ2

G2
GH
θH

(a)

(b)

(c)

(d)

(e)

(f)

Modello di protesi
Fig. (a) Fig. (b) Fig. (c) Fig. (d) Fig. (e) Fig. (f)

KP

FL

C

I

Funzionalità Insufficiente
“ “ 0.9189 0.8541 0.8090 0.9926 0.9856 0.9993 0.2499 0.1741 0.1013

I r = w1 ⋅ KPr + w2 ⋅ FLr − w3 ⋅ C r
0.5699 0.5698 0.5824

e n o iz att e g or P
θ1
G1
Encoder Motor

G1

Frame (socket)

θ1
Harmonic drive

θ2

Anti-return System

θ2

G2

G2

Ball Screw Helical transmission gear Antireturn System Bearings for revolute joints

∆θ1 = 158° ∆θ2 = 143° P1 ≈ 4 W P2 ≈ 20 W

Motor

Planetary Gearhead

Encoder

Solenoid Nut

e n o iz att e g or P
Invasatura Harmonic drive Encoder

θ1

Motore

θ2

Dispositivo antiritorno

e n o iz att e g or P
θ2
θ2

“Telaio” Biella

Vite a ricircolo di sfere
Motore
Riduttore epicicloidale

Corsoio
Encoder Dispositivo di antiritorno

Encoder system Motor
Anti-return Planetary Gearhead

FFO

θ2

NO

o i g g a c c ol b i d o vi t i s o p si D
e n o iz att e g or P

] V[ ]W [ ] g[

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G2
à

341 31 63

063 3 63

] °[ ] m N[ ] s/ °[
·

21 71 056 G
2

6 5 5 .4 002 G
1

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o m si n a c c e m l e d o p i t o t o r P
e n o i z a pi t o t o r P

G1

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dL

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o pi t o t o r p l e d o c n a b a t s e T

Le

ηg =

Motore

ηel

Lr Lr Lm = = η m η el Le Lm Le

Lm

Meccanismo

ηm

Lr

Carico esterno

:otom id eggeL otom id eggel atacilppa aippoc :id erairav la evorp esreviD

∫q1 Tr (q) ⋅ dq Lr ηm = = η el ⋅ Le η ⋅ t2 V (t ) ⋅ i (t ) ⋅ dt el ∫

o pi t o t o r p l e d o c n a b a t s e T

q2

t1

itnerroc 9 ilaiznereffid inoisnet 3 asroc enif 6 orig/eenil 215 a sredocne 3 -

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ollortnoc id tuptuO

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o pi t o t o r p l e d o c n a b a t s e T

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5249 IN

1029 IN

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4749 IN

OIRtqapmoC :atargetni enoizulos anU
o pi t o t o r p l e d o c n a b a t s e T

o pi t o t o r p l e d o c n a b a t s e T

ηg

1

0.8

0.6

0.4

0.2

0

10 20 30 40 Follower axis velocity [deg/s]

50

Meccanismo spalla G1
ηg ηm

il a t n e mi r e p s e v o r p ell e d i t a tl u si R
ηm

o pi t o t o r p l e d o c n a b a t s e T
ηg
1 2 Nm 1.5 Nm 1 Nm 0.5 Nm

1

ηm

1

0.8

0.8

0.8

0.6

0.6

0.6

13 Nm 12 Nm 9 Nm 7 Nm 4.86 Nm 0.53 Nm

0.4

0.4

0.4

0.2

0.2

0.2

0

10 20 30 40 Follower axis velocity [deg/s]

50

0

10 20 30 40 Follower axis velocity [deg/s]

50

0

10 20 30 40 Follower axis velocity [deg/s]

50

Meccanismo spalla G2

1

1 6 Nm 5.5 Nm 5 Nm 4.5 Nm 4 Nm 3.5 Nm 3 Nm 2.5 Nm 2 Nm 1.5 Nm 1 Nm 0.497 Nm

0.8

0.8

0.6

0.6

0.4

0.4

0.2

0.2

0

10 20 30 40 Follower axis velocity [deg/s]

50

0

10 20 30 40 Follower axis velocity [deg/s]

50

Gomito

Bluetooth EMG inputs

o ll o r t n o c i d à ti n U
6 cm
Microcontroller Elbow driver Shoulder G2 driver Shoulder G1 driver Hand & Wrist drivers
(Microchip PIC18F4431)

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• • •

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• •

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ai v a t t u t

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i t a tl u si R

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è

à

à

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