TENDON-DRIVEN ROTATIONAL JOINT FOR EXOSKELETON STRUCTURE

摘要

An open rotational joint for exoskeleton structures formed by a open circular guide (2) for a carriage having two ends (2'). The carriage moves on the boundary of the open circular guide (2) for example by means of a ball recirculating mechanism. To the carriage (3) a force can be applied that is opposite to its free movement along open guide 2 by means of a tendon of forward stroke (30) and a tendon of backward stroke (31). The guide (2) can be formed by a first plate (2a) and a second plate (2b) parallel to each other. A first series of idle pulleys (15a-15d) and a second series of idle pulleys (16) can be used, respectively with the function of leading the tendon of forward stroke (30) and of backward stroke (31) from a starting position substantially parallel to the axis (21) of the joint (1) to a position substantially parallel to the axis(21) of the joint (1) to a position substantially parallel to the plane (?) of open circular guide 2.