Abstract: Disclosed is a rotary actuator unit with a casing and an internal rotating shaft integral with rotating end flanges projecting from said casing at a main axis of rotation, a load cell apt to detect a load acting on one of said rotating end flanges, further comprising an articulated link parallelogram frame defined by a pair of end brackets constrained to said rotating end flanges, equipped with respective hinge bodies defining parallel hinge axes in which first hinge pins are pivotingly engaged, a pair of lower and upper end plates hinged at proximal end to said hinge pins, said lower and upper end plates being provided with second hinge pins at a distal end, and an attachment plate hinged at respective ends to said second hinge pins, and in which said upper end plates is abutting said load cell and attachment plate has fastening means to engage a user structure.

Abstract: Disclosed is a rotary actuator unit with a casing and an internal rotating shaft integral with rotating end flanges projecting from said casing at a main axis of rotation, a load cell apt to detect a load acting on one of said rotating end flanges, further comprising an articulated link parallelogram frame defined by a pair of end brackets constrained to said rotating end flanges, equipped with respective hinge bodies defining parallel hinge axes in which first hinge pins are pivotingly engaged, a pair of lower and upper end plates hinged at proximal end to said hinge pins, said lower and upper end plates being provided with second hinge pins at a distal end, and an attachment plate hinged at respective ends to said second hinge pins, and in which said upper end plates is abutting said load cell and attachment plate has fastening means to engage a user structure.