Abstract: Mechanical interconnection of multiple rotatable devices that includes: a gear train, at least three rotatable devices, one or more first stages, and one or more second stages, a first element, i.e. a geared element or a planet carrier, of one of the second stages forming a torque resisting means being blocked or impeded in a controllable way. The third rotatable device interacting with a second element, i.e. a gearwheel, or a planet carrier, of one of the second stages.

Abstract: Mechanical interconnection of multiple rotatable devices that includes: a gear train, at least three rotatable devices, one or more first stages, and one or more second stages, a first element, i.e. a geared element or a planet carrier, of one of the second stages forming a torque resisting means being blocked or impeded in a controllable way. The third rotatable device interacting with a second element, i.e. a gearwheel, or a planet carrier, of one of the second stages.

Abstract: A device and a method for actuating a joint of a human, an animal or a robot are disclosed. An elongated, lengthwise flexible and torsionally elastic body is provided for transmitting torque. Based at least in part on torsional deformation information of the body, torque is transmitted via the body. In an embodiment, a flexible drive shaft is provided, whereby the flexible drive shaft comprises said body. Furthermore, use of a flexible drive shaft as compliant element and as torque transmission element in a rotary actuator for actuating a mechanical joint is disclosed. In addition, use of a flexible drive shaft for determining an impedance of a joint of a human or an animal is also disclosed.

Abstract: A supporting exoskeleton having a rigid main body, and a hip engagement member for engagement of the rigid main body with a hip of a person when wearing the supporting exoskeleton. The exoskeleton includes first and second lower members rotatably attached to the main body such that an axis of the rotation of the first lower member substantially coincides with an axis of a rotation of a left and right hip joints of the person. The exoskeleton also comprises a differential coupler, adapted for, in an engagement mode of the differential coupler, differentially coupling the rotation of the first lower member to the rotation of the second lower member.

Abstract: A device for use with a four-dimensional radiological imaging modality includes: a base structure and a table slidably mounted with respect to one another. The base structure is at one end provided with a platform at an angle relative to the table, and a counteracting structure is arranged to apply to the table a load exerting force in a direction towards the one end provided with the platform from the opposite end of the base structure or vice versa.

Abstract: The current invention relates to a device for replacing or augmenting a limb of a user, having a joint for connecting an upper and lower part of the assistive device, the joint having an axis of rotation. The device further comprises a joint, an actuator linkage, a base structure, and a linkage mechanism comprising at least three linking elements, wherein a first end of the linkage mechanism is coupled to the joint, a second end of the linkage mechanism is coupled to the actuator linkage, and a third end of the linkage mechanism is coupled to the base structure, wherein the actuator linkage applies a torque to the joint through linkage mechanism.

Abstract: Mechanical interconnection of multiple rotatable devices that includes: a gear train, at least three rotatable devices, one or more first stages, and one or more second stages, a first element, i.e. a geared element or a planet carrier, of one of the second stages forming a torque resisting means being blocked or impeded in a controllable way. The third rotatable device interacting with a second element, i.e. a gearwheel, or a planet carrier, of one of the second stages.

Abstract: Gearwheel transmission comprising a first stage and a second stage, the second stage being a differential gearing comprising a planetary gear train system which is executed in a quasi duplicated form, wherein a first component is forming a torque resisting means, wherein a second component is interconnected or interacting with an output shaft, the overall transmission efficiency in the first stage being higher than in the second stage and/or the overall capacity for transmitting torque in the second stage being higher than in the first stage.

Abstract: A device for use with a four-dimensional radiological imaging modality includes: a base structure and a table slidably mounted with respect to one another. The base structure is at one end provided with a platform at an angle relative to the table, and a counteracting structure is arranged to apply to the table a load exerting force in a direction towards the one end provided with the platform from the opposite end of the base structure or vice versa.

Abstract: Gearwheel transmission comprising a first stage and a second stage, the second stage being a differential gearing comprising a planetary gear train system which is executed in a quasi duplicated form, wherein a first component is forming a torque resisting means, wherein a second component is interconnected or interacting with an output shaft, the overall transmission efficiency in the first stage being higher than in the second stage and/or the overall capacity for transmitting torque in the second stage being higher than in the first stage.

Abstract: The current invention concerns a device and a method for transmitting torque. The device may comprise an elongated and bendable torque transmission member, e.g. a cable, and a hinge element along which the member is guided via one or more guide pulleys. The hinge element may comprise a first and a second base element hingedly attached and comprising a first hinge axis. The first element may comprise a first guide pulley with pulley rotational axis in essence perpendicular to the first hinge axis. The second element may comprise a second guide pulley with pulley rotational axis in essence perpendicular to the first hinge axis. The positions of the first guide pulley in the first element and the second guide pulley in the second element may be configured to guide a portion of the member in essence coaxial to the hinge axis. In a preferred embodiment, the device is a wearable robot, e.g. an exoskeleton.

Abstract: A device and a method for actuating a joint of a human, an animal or a robot are disclosed. An elongated, lengthwise flexible and torsionally elastic body is provided for transmitting torque. Based at least in part on torsional deformation information of the body, torque is transmitted via the body. In an embodiment, a flexible drive shaft is provided, whereby the flexible drive shaft comprises said body. Furthermore, use of a flexible drive shaft as compliant element and as torque transmission element in a rotary actuator for actuating a mechanical joint is disclosed. In addition, use of a flexible drive shaft for determining an impedance of a joint of a human or an animal is also disclosed.

Abstract: A prosthesis or orthosis having a movement controlling mechanism (MCM) including a first MCM part, a second MCM part and one or more intermediate elements and biasing mechanism which, in a contacting mode of operation of the MCM, bias the intermediate elements against a MCM part. When a relative torque or force is applied in a blocking sense (U) transmission of torque is allowed and, on the other hand, when a torque or force is applied in the opposite sense (V) non-blocking relative movement is allowed.

Abstract: A prosthesis or orthosis has a first body and a second body rotatable relative to one another, a passive mechanical converting mechanism with a third body arranged movably with respect to the first body, and an elastic element arranged between the third and the second body. The mechanical converting mechanism is configured for converting an angular change between the first body and the second body into a change of load on the elastic element. There is further provided a ratio adapting device interacting with the converting mechanism and configured for modifying the conversion ratio by which the change of load on the elastic element is performed.

Abstract: A prosthesis or orthosis having a movement controlling mechanism (MCM) including a first MCM part, a second MCM part and one or more intermediate elements and biasing mechanism which, in a contacting mode of operation of the MCM, bias the intermediate elements against a MCM part.

Abstract: A prosthesis or orthosis has a first body and a second body rotatable relative to one another, a passive mechanical converting mechanism with a third body arranged movably with respect to the first body, and an elastic element arranged between the third and the second body. The mechanical converting mechanism is configured for converting an angular change between the first body and the second body into a change of load on the elastic element. There is further provided a ratio adapting device interacting with the converting mechanism and configured for modifying the conversion ratio by which the change of load on the elastic element is performed.

Abstract: The present invention relates to a method and system for describing the motion of a closed-loop multibody mechanism. In this case, equations of motion need to be obtained for constrained multibody systems. The invention is based on a forward dynamics formulation resulting in a recursive Hamiltonian formulation for closed-loop systems using generalised co-ordinates and conjugated canonical momenta. The method allows to limit the number of arithmetical operations necessary to obtain the equations of motion with a good evolution of the constraints violation errors. Calculations can be performed based on constrained articulated momentum vectors.