System for assisting an operator in exerting efforts
A system for assisting an operator in exerting efforts comprises a garment that can be worn by the operator, which is to engage, when worn, the mutually mobile parts of a joint of the operator. The system defines at least one axis of rotation that is to assume a position corresponding to the joint of the operator. A device is carried by the garment and designed to operate so as to compensate the resistive moments that act on the joint during the effort exerted by the operator. A compensation device is provided equipped with a rotational assembly, which has a neutral position and is able to determine a pre-set plot of the assisting torque that is a function of the angle of rotation of the joint. The compensation device may include a tension regulation device to regulate a moment obtained about the joint of the operator.
1. A compensation device in a system for assisting an operator in exerting efforts by a joint of the operator, the compensation device comprising:
a first rotatable member arranged to rotate about a first axis of rotation;
a second rotatable member arranged to rotate about a second axis of rotation, wherein the first rotatable member is connected to the second rotatable member;
an elastic mechanism having at least one elastic element arranged for exerting an elastic force on the second rotatable member to impart on the first axis of rotation a moment opposite to resistive moments acting on a joint of the operator;
wherein the first and second rotatable members and the elastic mechanism are arranged in at least one pre-set position, such that a force exerted by the elastic mechanism on the second rotatable member is oriented in a direction incident with respect to the second axis of rotation of the second rotatable member;
wherein the compensation device includes an epicyclic gear train mounted at the first axis of rotation including a crown wheel or central gear wheel defining the first rotatable member; and
wherein the second rotatable member includes a planetary-gear carrier wherein the elastic mechanism engages the planetary-gear carrier, and is arranged to exert a linear force on an eccentric point thereof.
2. The compensation device according to claim 1 , wherein the at least one elastic element comprises at least one spring anchored having a first end anchored to the eccentric point of the second rotatable member.
3. The compensation device according to claim 2 , wherein a position of the second end of the elastic mechanism with respect to the first end is adjustable for setting pre-tensioning of the at least one spring.
4. The compensation device according to claim 1 , further comprising a tension regulation device connected and adapted to regulate tension in the elastic mechanism.
5. The compensation device according to claim 4 , wherein the tension regulation device is arranged for pre-tensioning the elastic mechanism at a plurality of discrete tension settings and placing the pre-tension at one of the plurality of discrete tension settings.
6. The compensation device according to claim 4 , wherein the tension regulation device includes a cam assembly for adjusting the elastic mechanism at a plurality of discrete tension settings.
7. The compensation device according to claim 4 , wherein the tension regulation device further includes an interface mechanism for selectively adjusting the compensation device.
8. The compensation device according to claim 1 , wherein an amplitude of the elastic force generated by the elastic mechanism varies as a function of an angle of rotation of the crown wheel.
9. The compensation device according to claim 1 , wherein the compensation device is arranged so that the compensation device is provided with an assistance torque at zero in at least one neutral position of the system.
10. The compensation device according to claim 9 , wherein the at least one neutral position of the system includes a position wherein the elastic force exerted by the elastic mechanism on the planetary-gear carrier is oriented in a direction incident to the first axis of rotation.
11. The compensation device according to claim 1 , wherein the first and second rotatable members have a transmission ratio that is variable as a function of an angle of rotation about the first axis of rotation.
12. The compensation device according to claim 1 , wherein the elastic mechanism includes a first bracket opposite to a second bracket, the first bracket secured to the second rotatable member on the eccentric point in an eccentric position.
13. The compensation device according to claim 12 , wherein the at least one elastic element includes at least one spring secured to opposed ends of the first and second brackets.
14. The compensation device according to claim 12 , wherein the first and the second brackets are secured to first and second mounting elements separately articulable relative to one another.
15. The compensation device according to claim 14 , wherein the crown wheel is fixed to the first mounting element and the central gear wheel is fixed to the second mounting element.