Abstract: The present invention relates to the field of wearable robotic devices that physically interact with humans, and in particular refers to a wearable exoskeleton, in particular for the upper limb. The invention refers to an electro- or magneto-rheological fluid type semi-active joint purposely conceived to be used to make the exoskeleton. It comprises a first body and a second body, slidably coupled to each other, with a “flow mode” rotating configuration, which allows to have a fluid flow moved by a pressure gradient induced by the circular movement of a piston in a chamber, with constructive simplicity and decrease of wear.

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.

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.