Abstract: An actuation system for actuating concentric tubes of a concentric-tube robot. The actuation system is configured to actuate the concentric tubes from radially to one side of the concentric tubes.

Abstract: A hand rehabilitation device is used in rehabilitation therapies, for motility and functionality of the hands. The device has an orthosis, fitted to partially cover a patient's hand and forearm, and flexible rods for a passive and assisted active, concurrent, and/or selective bending or extension of the fingers. Movements are freely settable by an operator. Elements for sliding and supporting of the flexible rods during bending or extension of the fingers include ‘finger socks” or gloves provided with thimbles, fixed rods, or plates to stabilize the thimbles and hinged to move the flexible rods. A movement/command and control unit, integral to, or remoted located relative to, the orthosis is provided with actuators for moving the flexible rods. A tension adjusts the rods and rehabilitation device, adjusting and adapting to the hand s anatomical features.

Abstract: A hand rehabilitation device (10, 10?), used in rehabilitation therapies of the motility and functionality of metacarpus-phalanx, proximal interphalanx and distal interphalanx joints, injured or reduced subsequent to trauma or the like, in the post-surgery period, or in the case of hand paresis or paralysis subsequent to central nervous system diseases, spinal cord injuries, peripheral neuropathies or the like and/or when the hand joint movements are to be improved in association with the physiotherapist's treatment during rehabilitation sessions, said device flexible, modular, light and comprising a brace (17, 90) fitted to partially cover the patient's hand (19) and forearm (13), the device comprising, all placed on the back of the hand with the palm totally free, flexible rods (36, 58, 104) for a passive and assisted active, concurrent and/or selective, bending/extension of the five fingers according to a complete bending movement or to different angular positions, grasping of objects and/or simulation of