Abstract: A modular configurable robot, comprising robot modules comprising a coupling mechanism including an electrical coupling member comprising a network communication signal connection, an arrangement forming upon coupling an orientation signal, an integrated circuit comprising a microcontroller circuit with unique identification code and I/O ports coupled to said electrical coupling to receive orientation electrical signal, a communication slave module comprising ports and registers storing state values of the ports, one port pre-designated as input, the ports being open or closed depending on the port state, the robot comprising a master communication module forming with said slave modules a master slave communication network topology, a server hosting a database of robot module parameters, accessible by unique identification code, said master module retrieving from said communication slave module the unique identification code, and from the database robot module parameters, and from said microcontroller circuit

Abstract: An underactuated exoskeleton for lower-limbs, for supporting the knee of a user, includes a first and a second coupling frame and a movement means associated with the first and with the second frame configured to confer to the second frame a roto-translation movement with respect to the first frame or vice versa. The exoskeleton further includes a junction means operatively interposed between the movement means and the first frame and/or the second frame configured to allow a relative rotation between the first and the second frame in a second plane, orthogonal to the first plane, a rotation of said second frame about said main axis of the leg and a relative translation between the first and the second frame in the second plane.

Abstract: An underactuated exoskeleton for lower-limbs, for supporting the knee of a user, includes a first and a second coupling frame and a movement means associated with the first and with the second frame configured to confer to the second frame a roto-translation movement with respect to the first frame or vice versa. The exoskeleton further includes a junction means operatively interposed between the movement means and the first frame and/or the second frame configured to allow a relative rotation between the first and the second frame in a second plane, orthogonal to the first plane, a rotation of said second frame about said main axis of the leg and a relative translation between the first and the second frame in the second plane.

Abstract: An actuated joint comprising a first element and a second element movable one with respect to the other, a first actuator and a second actuator connected to said first and second element for controlling the movement of said joint in an agonist-antagonist way, wherein said first actuator has a nominal or maximum power greater than that of said second actuator and said second actuator comprises at least a first elastic element extendable so as to store a maximum amount of elastic energy greater than that storable by said first actuator.