Patents by Inventor Fabio Salsedo

Fabio Salsedo has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20110185835
    Abstract: A method for actuating a mechanism imposing a prefixed relative movement between a first and a second rigid link and a hand exoskeleton obtained by utilizing the method. The mechanism includes revolute joints and may be a parallelogram mechanism, a pantograph remote center of rotation mechanism, or a multiple-degrees-of-freedom mechanism. The method provides coaxially arranging at one or more selected revolute joints a number of idle pulleys which are greater than the number of degrees of freedom of the mechanism, the first of the selected revolute joints preferably having its rotation axis fixed with respect to the rigid link; the method also provides arranging an inextensible cable between a traction point and a terminal point on the mechanism or on the second rigid link.
    Type: Application
    Filed: August 31, 2009
    Publication date: August 4, 2011
    Applicant: SCUOLA SUPERIORE DI STUDI UNIVERSITARI S. ANNA
    Inventors: Massimo Bergamasco, Fabio Salsedo, Marco Fontana
  • Publication number: 20110174097
    Abstract: A high torque limited angle compact and lightweight actuator that comprises a driven pulley (11), a flexible tie-member (6), which is wound about the driven pulley (11), a linear actuator (7) and an inversion mechanism (8). In particular, the linear actuator (7), which is located with respect to the driven pulley (11) such that the direction is substantially tangent to it, comprises a movable element (10) that carries out a linear movement along a line according to two opposite directions (10?), (10?). The inversion mechanism is such that when an input portion (8?) moves along a line (first straight line), tangential to the driven pulley, of a certain an amount a output portion (8?) moves along another line (second straight line), which is also tangential to the driven pulley, for a same movement amount, such that the total length of the tie-member (6) is unchanged. (FIG.
    Type: Application
    Filed: April 29, 2009
    Publication date: July 21, 2011
    Applicant: SCUOLA SUPERIORE DI STUDI UNIVERSITARI S. ANNA
    Inventors: Massimo Bergamasco, Fabio Salsedo, Nicola Lucchesi
  • Publication number: 20090153365
    Abstract: A portable interface device (1) of haptic human-computer type which can be fixed to a hand (2) of an operator (3), capable of engaging with the operator (3) transmitting on the operator's hand fingertips tactile sensations following the shape of a virtual surface (4), in particular obtained from a real surface (5). The tactile sensations are transmitted to a fingertip by the device (1) through a movable and orientable surface contacting the fingertip while remaining tangential to the virtual surface (4). The device (1), by touching the user's fingertip only at the points of contact with the virtual surface (4), does not provide to the user (3) any tactile sensations on the or on each fingertip when it moves in a free space, obtaining a very high level of transparency of the device. The workspace of the interface device (1) is very high, and can be also infinite, using suitable position tracking systems.
    Type: Application
    Filed: November 18, 2005
    Publication date: June 18, 2009
    Inventors: Fabio Salsedo, Massimo Bergamasoo, Antonio Frisoli, Guido Cini
  • Publication number: 20080196533
    Abstract: Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element (3) mounted on a support (2) capable instantaneously to rotate with respect to a fixed member (5), for example by a ball joint (10) that allows three rotational degrees of freedom. In particular, the support (2) can be oriented with respect to the fixed member (5) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons (8), and causing the rotation of the support (2) about the central post (5) by the ball joint (10). Alternatively, the support (2) can be oriented with respect to the fixed member (5) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.
    Type: Application
    Filed: November 15, 2004
    Publication date: August 21, 2008
    Inventors: Massimo Bergamasco, Fabio Salsedo, Stefano Spinelli, Marco Fontana
  • Patent number: 7409882
    Abstract: An exoskeleton interface apparatus includes five rigid links (2-6) arranged in series, capable of rotating reciprocally at the respective ends for monitoring angular movements of the arm, of the forearm and the wrist of an user (60) and having at the tip an handgrip (30) for engaging with the user (60) by reflecting a force feedback. The rigid links (2-6) can rotate at their ends about rotational joints (11-14) having rotational axes (31-34) incident in the intersection point of the physiological axes of the shoulder. The rotational joints (11-14) are brought into rotation about the respective rotational axes (31-34) by means of respective motors (21-24), for example servo-motor such as torque motors. All the motors (21-24) are mounted on the fixed base link (2) in order to minimize the mass of the parts in movement and the inertia reflected on the user (60).
    Type: Grant
    Filed: December 31, 2002
    Date of Patent: August 12, 2008
    Inventors: Bergamasco Massimo, Fabio Salsedo, Andrea Dettori, Marco Franceschini, Antonio Frisoli, Fabrizio Rocchi
  • Patent number: 7373721
    Abstract: A goniometric sensor (1) for measuring the relative rotation of two objects (20,25) comprising a flexible elongated element (2) whose respective ends are connected to the two objects (20, 25) and during whose bending the length variation ?L is determined of one of the lines (15) not located at the neutral axis (10). This length variation ?L is directly proportional to the relative rotation (?) between the two bodies (20, 25) multiplied for the eccentricity (e) of the line (15) with respect to the neutral axis (10). Therefore, it is possible to determine easily the relative rotation (?) by knowing the length L and the eccentricity (e) with respect to the neutral axis 10, and measuring the length variation ?L of the line, for example by measuring the movement of the end of a cable located in a hole that contains the line.
    Type: Grant
    Filed: December 30, 2002
    Date of Patent: May 20, 2008
    Inventors: Massimo Bergamasco, Fabio Salsedo, Guenther Nino Ullrich, Paolo Villella
  • Patent number: 7249422
    Abstract: A device (1) for measuring the relative orientation according to at least one degree of freedom for two objects, including a constraint generator (10) suitable for causing a goniometric sensor (40) to move in a plane, having the function of measuring the variation of relative orientation of the two objects in this plane. The goniometric sensor (40) is arranged in a housing (41) that crosses longitudinally the constraint generator (10), which has high flexional stiffness in a first longitudinal plane (?) and a low flexional stiffness in a second longitudinal plane (?) orthogonal to the first (?). The sensor measures rotations in a plane and the constraint generator induces a rotation in that plane. With the device (1) a data suit (50) can be made for measuring the movement of limbs of an individual. For example, arranging three devices (10a, 10b, 10c) in series, but capable of measuring angles in orthogonal planes, the rotation can be measured of the arm (76) with respect to a shoulder (75) of an individual.
    Type: Grant
    Filed: December 30, 2002
    Date of Patent: July 31, 2007
    Inventors: Massimo Bergamasco, Fabio Salsedo, Guenther Nino Ullrich, Paolo Villella
  • Publication number: 20060150753
    Abstract: An exoskeleton interface apparatus includes five rigid links (2-6) arranged in series, capable of rotating reciprocally at the respective ends for monitoring angular movements of the arm, of the forearm and the wrist of an user (60) and having at the tip an handgrip (30) for engaging with the user (60) by reflecting a force feedback. The rigid links (2-6) can rotate at their ends about rotational joints (11-14) having rotational axes (31-34) incident in the intersection point of the physiological axes of the shoulder. The rotational joints (11-14) are brought into rotation about the respective rotational axes (31-34) by means of respective motors (21-24), for example servo-motor such as torque motors. All the motors (21-24) are mounted on the fixed base link (2) in order to minimize the mass of the parts in movement and the inertia reflected on the user (60).
    Type: Application
    Filed: December 31, 2002
    Publication date: July 13, 2006
    Inventors: Bergamasco Massimo, Fabio Salsedo, Andrea Dettori, Marco Franceschini, Antonio Frisoli, Fabrizio Rocchi
  • Publication number: 20060130347
    Abstract: A device (1) for measuring the relative orientation according to at least one degree of freedom for two objects, including a constraint generator (10) suitable for causing a goniometric sensor (40) to move in a plane, having the function of measuring the variation of relative orientation of the two objects in this plane. The goniometric sensor (40) is arranged in a housing (41) that crosses longitudinally the constraint generator (10), which has high flexional stiffness in a first longitudinal plane (?) and a low flexional stiffness in a second longitudinal plane (?) orthogonal to the first (?) . The sensor measures rotations in a plane and the constraint generator induces a rotation in that plane. With the device (1) a data suit (50) can be made for measuring the movement of limbs of an individual. For example, arranging three devices (10a, 10b, 10c) in series, but capable of measuring angles in orthogonal planes, the rotation can be measured of the arm (76) with respect to a shoulder (75) of an individual.
    Type: Application
    Filed: December 30, 2002
    Publication date: June 22, 2006
    Inventors: Massimo Bergamasco, Fabio Salsedo, Guenther Ullrich, Paolo Villella
  • Publication number: 20060015191
    Abstract: A goniometric sensor (1) for measuring the relative rotation of two objects (20, 25) includes a flexible elongated element (2) whose respective ends are connected to the two objects (20, 25) and during whose bending the length variation ?L is determined of one of the fibers (15) not located at the neutral axis (10). This length variation ?L is directly proportional to the relative rotation (?) between the two bodies (20, 25) multiplied for the eccentricity (e) of the fiber (15) with respect to the neutral axis (10). Therefore, it is possible to determine easily the relative rotation (?) by knowing the length of rest L and the eccentricity (e) with respect to the neutral axis (10) and to measure the length variation ?L of fiber (15), for example measuring the movement of an end of a cable located in a hole that contains fiber (15).
    Type: Application
    Filed: December 30, 2002
    Publication date: January 19, 2006
    Inventors: Massimo Bergamasco, Fabio Salsedo, Guenther Ullrich, Paolo Villela
  • Patent number: 5912658
    Abstract: A device operable to supply a force feedback to a physiological unit to be sed as an advanced interface for machines and computers, including an exoskeleton which includes kinematic elements articulated about articulation axes arranged coincident with or in close proximity to the physiological axes of the physiological unit such as, for example, the flexion-extension axes of the phalanges of the fingers of a hand of an operator. A series of electrical actuators controls the degree of tension on traction cables applying a force feedback to the kinematic elements and consequently to the physiological unit, so as to simulate an interaction between the operator and a virtual object. The device includes position sensors for detecting the configuration of the physiological unit and force sensors for measuring the strength of the force locally applied thereto by the actuators controlled by a processing system.
    Type: Grant
    Filed: June 10, 1996
    Date of Patent: June 15, 1999
    Assignee: Scuola Superiore Di Studi Universitari E Di Perfezionamento S. Anna
    Inventors: Massimo Bergamasco, Sandro Scattareggia Marchese, Fabio Salsedo, Luca Ferretti
  • Patent number: 5715834
    Abstract: A device for monitoring the configuration of a distal physiological unit prises first position sensors for detecting quantities relating to the relative positions of a digit of an extremity of a limb and to the adduction-abduction of the digit. The device also comprises second position sensors for detecting quantities relating to the pronation-supination position of a distal portion of the limb, to the flexion-extension position of the wrist and to the adduction-abduction position of the wrist. The device comprises a glove structure bearing the fist sensors and an exoskeleton structure bearing the second sensors.
    Type: Grant
    Filed: August 7, 1995
    Date of Patent: February 10, 1998
    Assignee: Scuola Superiore Di Studi Universitari & Di Perfezionamento S. Anna
    Inventors: Massimo Bergamasco, Sandro Scattareggia Marchese, Fabio Salsedo, Gianluca Parrini