Abstract: A joint for articulations with pseudo-elastic elements comprising a pair of coupled box-shaped elements (13, 14), facing each other in an open surface, moveable and rotating with respect to each other, around a common longitudinal axis (15) and containing a spring-charged pseudo-elastic element (12) which causes the reciprocal rotation, the box-shaped elements (13, 14) carrying an arm (20, 25) facing outwardly for connection with associated portions of an articulation and including stop elements (21, 32; 132, 20) of their rotation. The spring-charged pseudo-elastic element (12) comprises a curved portion, more or less closed to form a ring (36) and two straight portions (37) terminating in ends (23, 34), inserted into holes (22, 33) of the box-shaped elements (13, 14), the straight portions (37) being intersected to obtain a pre-charge before being inserted into the holes (22, 33).

Abstract: A perfected rotational actuator, comprising, in two box-shaped shells (31, 32), a pair of plates (12, 13) connected to each other by a central pin (14) and containing, between the same, a plurality of pulleys (25), with two superimposed perimetric slots (29), in which a shape memory alloy wire (21) circulates, wherein two segments of said wire (21) are arranged in aligned slots (29) of the pulleys (25) and are constrained at opposite ends to non-conductive elements (19) integral with a tooth (16) protruding radially from a plate (12) and in a position shifted by a certain angle (?) with respect to each other, the two segments of wire being defined by passage through a further non-conductive element (20) integral with a tooth (17) radially protruding from the second plate (13), a torque spring (23) situated on the central pin (14) being interposed between the plates (12, 13), the opposite ends of the wire (21) being connected to an electric wire (22), radial arms (34, 35) of each of the shells (31, 32) being c

Abstract: A joint for articulations with pseudo-elastic elements comprising a pair of coupled box-shaped elements (13, 14), facing each other in an open surface, moveable and rotating with respect to each other, around a common longitudinal axis (15) and containing a spring-charged pseudo-elastic element (12) which causes the reciprocal rotation, the box-shaped elements (13, 14) carrying an arm (20, 25) facing outwardly for connection with associated portions of an articulation and including stop elements (21, 32; 132, 20) of their rotation. The spring-charged pseudo-elastic element (12) comprises a curved portion, more or less closed to form a ring (36) and two straight portions (37) terminating in ends (23, 34), inserted into holes (22, 33) of the box-shaped elements (13, 14), the straight portions (37) being intersected to obtain a pre-charge before being inserted into the holes (22, 33).