• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Articulated arm with kinematic chain structure (2) that imitates a human arm, comprising shoulder joint (3), elbow joint (4) and wrist joint (5), consecutively joined by long links (6, 7) and each with short links linked by articulated joints with rotary dampers (13) and springs (14) that determine kinematically uncoupled movements consisting of: the shoulder (3): adduction-abduction on a first rotational axis (A), flexion-extension on a second rotational axis (B) and medial-lateral rotation on a third rotational axis (C); that of the elbow (4): flexion-extension on a fourth rotational axis (D) and pronation-supination on a fifth rotational axis (E); and that of the wrist (5): flexion-extension on a sixth rotational axis (F) and ulnar-radial deviation on a seventh rotational axis (G). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2695502A1
    申请号:ES201730870
    申请日:2017-06-30
    公开日:2019-01-08
    发明作者:Torro Jorge Amoros；Vidal Ricardo Morales
    申请人:Torro Jorge Amoros；Vidal Ricardo Morales；
    IPC主号:
    专利说明:

    [0001]
    [0002]
    [0003]
    [0004] OBJECT OF THE INVENTION
    [0005]
    [0006] The invention, as expressed in the wording of the present specification, refers to an articulated arm that contributes, to the function to which it is intended, advantages and novelty features, which are described in detail below, which represent an improvement of the current state of the art.
    [0007]
    [0008] More specifically, the invention refers to the kinematic structure of a multi-functional articulated arm that realistically imitates the human arm, being applicable to almost any field that needs a similar element in appearance, movements, resistance, and similar to those of a human arm, from the shoulder to the hand, since it imitates the kinematics and dynamics of the human arms, being able to be used in all those tasks or activities where the use of a real human arm can pose a risk for the same or its environment and in circumstances where it is not possible, for example, to test and validate robotic exoskeletons for neurorehabilitation and exoskeletons to increase the load capacity. It can also be used for the manufacture of robotic prostheses, or for the evaluation of risk in the field of prevention of occupational hazards, also for its use in first aid and rescues training, or for the practice of contact martial arts and police personal defense. It is also applicable in the field of robotics, where it is of special mention its use where you must have a physical interaction with a robotic arm. Thanks to the proposed design, safety in the physical interaction with the arm is maximized thanks to its dynamic features explained below.
    [0009]
    [0010] FIELD OF APPLICATION OF THE INVENTION
    [0011]
    [0012] The field of application of the present invention is part of any sector of the industry dedicated to the manufacture of articulated arm structures that mimic the human arm, for example that of the industry dedicated to the manufacture of prostheses, the industry dedicated to the manufacture of robotic, active or passive exoskeletons, and the like.
    [0013] BACKGROUND OF THE INVENTION
    [0014]
    [0015] Throughout history there have been many attempts to artificially reproduce the kinematics and dynamics of the human arms and their hands. The great versatility and skill of them make them especially attractive for various utilities. However, due to the great complexity of these, formed by multiple bones, muscles, tendons, nerves and skin, it is unfeasible, for the moment, to build an exact replica of them. However, over the years multiple articulated structures have been constructed to simulate the operation of the arms.
    [0016]
    [0017] Currently there are many humanoid robots that mimic these movements in a very similar way to humans. It should be noted that these structures are realistic only in the case where the movement is produced by the robot itself or mechanism. That is, movements are imitated from the inside of the arm to the outside; and, due to their kinematic configuration, they are not able to imitate the real behavior when the forces are external to the arm, as in the physical interactions of a robotic arm, so, in the case of an active robotic arm, it can be jeopardize the physical integrity of people or things that interact with it. One of the objectives of the present invention is therefore to ensure that these types of hazards disappear or are minimized.
    [0018]
    [0019] Some of the factors that influence the interaction with a humanoid robot arm are stiffness, weight and control; In addition to the joint limits of each joint, which do not usually exist physically as in the case of a real human arm, but are adjusted by software and / or control. This leads to when external forces are applied on it, they arrive at kinematic configurations that are not possible in a human arm. To add that a haptic interaction similar to that of a human arm is not achieved, being practically impossible if the control has not been designed for that purpose.
    [0020]
    [0021] Thus, the main objective of the present invention is to develop an articulated endoskeleton model, which replicates the movements of the human arm and of the hand, being for the shoulder: abduction-adduction, flexion-extension and lateral medial rotation rotation; for the elbow: flexion-extension and pronation-supination and for the wrist: flexion-extension and radial deflection ulnar-deviation.
    [0022] As reference to the current state of the art, it should be noted that, although multiple types of articulated arms are known, at least on the part of the applicant, the existence of none is known that with similar application of imitation of the movements of the human arm, which present technical, structural and constitutive characteristics equal or similar to those presented herein and as claimed.
    [0023]
    [0024] EXPLANATION OF THE INVENTION
    [0025]
    [0026] The articulated arm that the invention proposes is configured, therefore, as a remarkable novelty within its field of application, since, according to its implementation and specifically, the above-mentioned objectives are satisfactorily achieved, the characteristic details being that they make possible and distinguish it from what is already known conveniently gathered in the final claims that accompany the present description.
    [0027]
    [0028] Concretely, what the invention proposes, as has been pointed out above, is a multi-functional articulated arm structure that realistically imitates the human arm, in particular the kinematic and dynamic movement of the main articulations of the same, for which is configured, essentially, from a structure of kinematic chain comprising at least three groups of joints, one corresponding to the shoulder, one corresponding to the elbow and one corresponding to the wrist, which, in addition to being joined together by two long links, in correspondence with the humerus and the cube and radius set, each one is equipped with short links that are joined together with articulated joints that confer to the set the diversity of movements mentioned above, with the added feature that the configuration of said unions comprise a series of rotary dampers and springs that define mechanisms that improve said movements. you. The number of springs and rotary dampers as well as their characteristics will be determined by the balance of the dynamic equations of the set of each articulation, and therefore, their placement and location will also be determined by the same equation.
    [0029]
    [0030] More specifically, the mentioned joints present the following movements:
    [0031]
    [0032] Movements of the shoulder joint.
    [0033] The mechanism of the articulation of the shoulder in the arm of the invention possesses the three main movements of the shoulder that determine the movement of the arm with respect to the trunk: adduction-abduction, flexion-extension and medial-lateral rotation, each of them associated with a axis, each of the three movements being kinematically uncoupled thanks to the proposed articulation. For this, two of the mentioned axes, the one corresponding to the adduction-abduction movement and the flexion-extension movement, are solidly anchored to the trunk and only allow the degree of rotational freedom, while the link piece that represents the humerus bone houses the third axis of the medial-lateral rotation movement.
    [0034]
    [0035] It should be noted that the proposed kinematics configuration complies with the simplified kinematic requirements of the human arm. However, said configuration is not sufficient because it does not take into account the kinematic joint limits of the human arm, the resolution of these factors being one of the characteristics of the present invention.
    [0036]
    [0037] Each of the joint limits are designed by means of mechanical stops that are physically secured and in the specific positions that meet the articulation limits of each joint.
    [0038]
    [0039] Although the design presented so far solves the kinematics of the human arm, it should be noted that this structure does not have the dynamics necessary to support the weight of the arm and possible external forces that may influence it, therefore the elements that form part of the dynamics of the articulation that are, rotary dampers and springs. The rotary dampers are placed on the axes of the shoulder joint and the springs are fixed to the fixed parts of the trunk in such a way that the resulting dynamics of the system is balanced at any joint value. This is achieved by using the intrinsic dead zone that the rotary dampers possess. The result of the set is a joint very similar to that of the human shoulder. It should be noted that this is another characteristic of the arm of the invention.
    [0040]
    [0041] Elbow movements:
    [0042]
    [0043] The elbow has two movements that determine the displacement of the forearm with respect to the arm, corresponding to flexion-extension and pronation-supination. which are carried out by means of two pieces that define corresponding axes.
    [0044]
    [0045] The resolution of the joint limits of the elbow is solved in the same way as in the case of shoulder articulation, that is, mechanically placed mechanical stops.
    [0046]
    [0047] In the same way that happens with the articulation of the shoulder, the dynamics of this articulation is also specially designed. The axes of the flexion-extension and pronacionsupinacion are coupled to their corresponding links by damping rotations. On the other hand, like the articulation of the shoulder, the link that simulates in cube and radius is mechanically coupled by springs to the passive link that constitutes one of the two parts of the aforementioned articulation. Also this part is coupled by springs with the other of this articulation.
    [0048]
    [0049] Wrist movements:
    [0050]
    [0051] The articulation of the wrist presents two movements of respective axes corresponding to the flexion-extension and the abduction-adduction of the forearm with respect to the hand.
    [0052]
    [0053] In the same way as the previous articulations, the joint limits are limited by strategically placed mechanical stops and are the following:
    [0054]
    [0055] The dynamic solution of this articulation is similar to the previous articulations, also comprising dampers rotations on both axes and springs between the different pieces that determine the links of the set. Like the previous articulations, this configuration gives the articulation of optimal dynamic characteristics.
    [0056]
    [0057] Optionally, the articulated arm also contemplates the inclusion of one or more additional joints in the hand that determine the movement of the phalanges:
    [0058]
    [0059] Given the simplicity of the movements of the phalanges of the fingers, being a single degree of freedom, they use the same rotational damper system on the axis of rotation and springs anchored to the fixed links, just as in the case of arm joints, giving vital importance to the balance of forces and parts so that stay in the dead zone of the rotary damper.
    [0060]
    [0061] In the preferred embodiment, the above described constitutes the endoskeletal structure that houses the arm in its interior, whose joint system performs the functions and performs the movements of the joints of a human arm, exerting the desirable resistance for the purpose that is applied in each case. case.
    [0062]
    [0063] Preferably, the different parts of the internal structure of said arm are made of laminated resin or rigid thermoplastic or material of similar strength, weight and characteristics. For its part, the external coating consists, preferably, of a silicone or PVC cover, to recreate the touch of a human arm, or of material of similar texture, strength and characteristics. The moving parts, such as rotational dampers, springs and axes, of the joints comprising the internal structure of the arm are preferably made of duralumin or material of similar characteristics, such as stainless steel, aluminum, or some type of resin or plastic of similar strength. And, finally, the pieces that constitute the links of union of the articulations of the internal structure, in concrete those that we have denominated short links are of carbon fiber or of aluminum and incorporate axes and bearings that allow the passive turns to allow the cinematic decoupling.
    [0064]
    [0065] The system described for the articulated arm is not only to be able to change the position of the same or to exert resistance, but it is designed as it has been exposed previously, to perform functions that a real human arm could exert, without risk for the person.
    [0066]
    [0067] With all this, the objective and advantages of the arm advocated are, essentially, the design of joints for articulated arms that confer safety and realism during their physical interaction. Being the humanoid type cinematic chains its main field of application. However, its use is extended to all those tasks that require one or more degrees of freedom that must interact safely between people or things.
    [0068]
    [0069] The physical joint limits designed in each joint can be adapted to the system to be modeled. In the case of a humanoid robot, it can be adjusted to the biomechanical limits of the human arm. This characteristic confers a great realism in its physical interaction.
    [0070] The cinematic uncoupling of the main axes provides multiple advantages from the cinematic, dynamic and haptic point of view. One or several main axes are fixed to the fixed links of its chain, so the drives can be located on these links, reducing the dynamic load due to the weight of them. Therefore, said load is also minimized when external forces act on the structure. This fact increases the realistic haptic sensation of the arm and the safety in the physical interaction.
    [0071] The set formed by dampers, rotations and springs modify the dynamics of the system taking advantage of the intrinsic characteristics of the rotational dampers. In particular, the balance of forces and pairs exerted by the springs and by the dead zones of the rotation dampers confer to the system some dynamic characteristics not seen until now. These being the main characteristics of the present invention.
    [0072]
    [0073] The assembly formed by the described joints are capable of absorbing unwanted forces that appear during physical interactions. This is due to the use and balance of the assembly, springs, rotary dampers and kinematic decoupling, these being responsible for the absorption of these forces resulting in a safer and more reliable system.
    [0074]
    [0075] The assembly formed by the kinematic decoupling, springs and rotational dampers provide great ease in adjusting the closed loop controllers of each main axis. Reducing considerably the time of adjustment of the same ones and avoiding to a great extent that said ties go into instability when it is an active system.
    [0076]
    [0077] In view of the foregoing, the articulated arm object of the invention substantially improves all the articulated arms known up to now, as well as the passive or active form becoming optional as well. Being understood as passive that is not capable of producing movements by itself by not having drives that act on their main axes, and active that through software and control is able to perform programmed movements to own drives in their main axes.
    [0078] The described articulated arm represents, then, an innovative structure of structural and constitutive characteristics unknown until now for the purpose for which it is intended, reasons that together with its practical utility, provide it with sufficient grounds to obtain the privilege of exclusivity that is requested.
    [0079]
    [0080] DESCRIPTION OF THE DRAWINGS
    [0081]
    [0082] To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, the descriptive specification is included, as an integral part thereof, of a set of plans, in which illustrative and not limitative the following has been represented:
    [0083]
    [0084] Figure 1 shows a perspective view of the schematic representation of the arm of the invention as a wire model, where the axes of movement that it comprises in each of the joints that form it are observed.
    [0085]
    [0086] Figure 2 shows a schematic view of the arm of the invention as a whole, appreciating the location of the joints and the links that link them. Figure 3 shows a perspective view of a portion of the arm, specifically the detail of the shoulder joint that has the arm, according to the invention.
    [0087]
    [0088] Figure 4 shows a perspective view of the exploded view of the shoulder joint shown in Figure 3, each of the elements comprising it being appreciated.
    [0089]
    [0090] Figure number 5.- Shows a perspective view of the detail of the elbow joint.
    [0091]
    [0092] Figure number 6 shows a perspective view of the exploded view of the articulation of the elbow shown in figure 5, the parts and elements comprising it being appreciated.
    [0093]
    [0094] Figure number 7 shows a schematic view of the location of the wrist joint, its disposition being appreciated in it between the forearm and the hand.
    [0095]
    [0096] Figure number 8.- Shows a perspective view of the wrist joint.
    [0097]
    [0098] And the figure number 9.- Shows a perspective view of the cutting of the articulation of the wrist shown in Figure 8, appreciating the parts and elements comprising.
    [0099]
    [0100] PREFERRED EMBODIMENT OF THE INVENTION
    [0101]
    [0102] In view of the mentioned figures and in accordance with the numeration adopted, a non-limiting example of the articulated arm of the invention can be observed, which comprises the parts and elements that are indicated and described in detail below.
    [0103]
    [0104] Thus, as seen in figures 1 and 2, the arm (1) in question is configured, essentially, from a structure of chain kinematics (2) that, preferably but not in a limiting manner and depending on the application to which it is intended, it is incorporated into an external cover (21) that realistically imitates the human arm, and in any case comprises at least three main joints, a shoulder joint (3), an elbow joint ( 4) and a wrist joint (5), arranged respectively in correspondence with said parts of a real human arm, which are consecutively joined together by two long links (6, 7), which in turn are located in correspondence with the humerus bone and the cube and radius assembly respectively, and where, each of said articulations (3, 4, 5), comprises groups of short links linked by articulated joints and arranged so as to determine respective cinematic movements Amente uncoupled consistent, similar to those made by a real human arm, in the following:
    [0105]
    [0106] - in the shoulder joint (3): adduction-abduction on a first rotational axis (A), flexion-extension on a second rotational axis (B) and medial-lateral rotation on a third rotational axis (C), as they indicate in figure 3, two of said axes being, that of adduction-abduction (A) and that of flexion-extension (B), solidly anchored to the trunk, and that of the movement of medial-lateral rotation (C) housed in the first long link (6) corresponding to the humerus bone;
    [0107]
    [0108] - in the articulation of the elbow (4): flexion-extension on a fourth rotational axis (D) and pronation-supination on a fifth rotational axis (E), represented in figure 5;
    [0109]
    [0110] - and in the wrist joint (5): flexion-extension on a sixth rotational axis (F) and ulnar-radial deviation on a seventh rotational axis (G), represented in figures 7 and 8.
    [0111] Figure 1 is a schematic representation of the structure (2) of the arm (1) where each of said axes of movement have been represented.
    [0112]
    [0113] More specifically, as seen in figures 3 and 4, the shoulder joint (3) comprises, attached to the proximal end (6a) of the first long link (6) of the humerus, three short links (8, 9, 10) coupled articulated between itself and the trunk, so that: a first short link (8), formed by two portions (8a) in L also articulated with each other, joins a first passive axis (11), in correspondence with the first axis of rotational movement (A) of adduction-abduction, which is fixed jointly to the trochus; a second short link (9) that joins a second passive axis (12), in correspondence with the second rotational axis (B) of flexion-extension that is also fixed jointly to the trunk; and a third short link (10), to which the first two (8, 9) join and which, in turn, joins the end (6a) of the long link (6) of the humer where the third axis of the rotational movement (C) of medial-lateral rotation, there being in each of said unions a rotary cushion (13).
    [0114]
    [0115] In addition, there are also provided springs (14) that link the joint (3) to the trunk, specifically fixed between the respective first and second passive axes (11, 12) and some trunk element in which the arm is anchored (1) in such a way that the resulting dynamics of it is balanced at any joint value.
    [0116]
    [0117] Preferably, the shoulder joint (3) is coupled to the trunk with a housing (31) where the said passive axes (11 and 12) are fixed together.
    [0118]
    [0119] Referring to FIGS. 5 and 6, it can be seen that the articulation of the elbow (4) comprises a fourth short link (15), which is joined together with the distal end (6b) of the first long link (6) corresponding to the humerus, and a fifth short link (16) jointed jointed to the fourth (15) and the proximal end (7a) of the second long link (7) corresponding to the cube-radius assembly, counting in said joints with respective rotary dampers (13) and coupled They determine the respective rotational movements fourth (D) of flexion-extension and fifth (E) of pronation-suppression and that define the displacement of the forearm with respect to the upper section of the arm.
    [0120] In addition, as in the shoulder joint (3), in this case also includes the inclusion of two springs (14) connecting the proximal end (7a) of the second long link (7) of the cube and radio set with the fourth short link (15) of this elbow joint (4) which is a passive link, being joined solidariamente and without movement to the first long link (6) of the humerus.
    [0121]
    [0122] On the other hand, as seen in figures 7, 8 and 9, the wrist joint (5) comprises: a sixth short link (17), a seventh short link (18) that joins the element or elements of the hand (19) and an eighth short link (20), composed of two sections (20a) in L hingedly joined to each other, to which the aforementioned short links (17, 18) are jointed and which, in turn, is linked to the distal end (7b) of the second long link (7) of cube and radius, said joints being made by respective rotary dampers (13) defining the movements of the sixth rotational axis (F) of flexion-extension and seventh (G) of ulnar deflection -radial and also comprising separate springs (14) joining these links.
    [0123]
    [0124] Finally, it should be noted that, although it has not been represented in the figures, the structure (2) optionally contemplates the inclusion of one or more additional joints, joined after the last link of the wrist joint (5) that define the hand (19) and determine the movement of phalanges.
    [0125]
    [0126] On the other hand, preferably, the long links (6, 7) of the structure (2) are pieces made of laminated resin or rigid thermoplastic or material of similar strength, weight and characteristics, the short links (8, 9, 10, 15). , 16, 17, 18, 20) are made of carbon fiber or aluminum, the moving parts of the rotational dampers (13), springs (14) and shafts (11, 12) are made of duralumin stainless steel, aluminum, or resin or plastic of similar strength and, where appropriate, the external cover (21) is a silicone or PVC cover.
    [0127]
    [0128] Having sufficiently described the nature of the present invention, as well as the way of putting it into practice, it is not considered necessary to make its explanation more extensive so that any expert in the field understands its scope and the advantages derived from it, stating that, within its essentiality, it may be carried out in other forms of realization that differ in detail from the one indicated by way of example, and to which it will also reach the protection that is sought provided it is not altered, changes or modifies its fundamental principle .
    权利要求:
    Claims (14)
    [1]
    1 ARTICULATED ARM that, configured from a structure of chain kinematics (2) incorporated or not within an external coverage (21) that imitates a human arm, is characterized by comprising at least three main joints, a shoulder joint (3), an elbow joint (4) and a wrist joint (5), arranged respectively in correspondence with said parts of a real human arm, which are consecutively joined together by two long links (6, 7), which in turn are located in correspondence with the humerus bone and the cube and radius assembly respectively, and where, each of said articulations (3, 4, 5), comprises groups of short links, linked by articulated joints with rotary dampers (13), whose disposition determines respective kinetically uncoupled movements consistent, similar to those made by a real human arm, in the following:
    - in the shoulder joint (3): adduction-abduction on a first rotational axis (A), flexion-extension on a second rotational axis (B) and medial-lateral rotation on a third rotational axis (C), two of which are said axes, adduction-abduction (A) and flexion-extension (B), solidly anchored to the trunk, and the movement of medial-lateral rotation (C) housed in the first long link (6) corresponding to the humerus bone;
    - in the articulation of the elbow (4): flexion-extension on a fourth rotational axis (D) and pronation-supination on a fifth rotational axis (E);
    - and in the articulation of the wrist (5): flexion-extension on a sixth rotational axis (F) and ulnar-radial deviation on a seventh rotational axis (G).
    [2]
    2. - ARTICULATED ARM, according to claim 1, characterized in that all the articulated joints between long or short links incorporate rotary dampers (13).
    [3]
    3. - ARTICULATED ARM, according to claim 2, characterized in that the main joints (3, 4, 5) incorporate springs (14).
    [4]
    4. - ARTICULATED ARM according to any of claims 1 to 3, characterized in that the shoulder joint (3) comprises, attached to the proximal end (6a) of the first long link (6) of the humerus, three short links (8, 9, 10) coupled articulatedly to each other and to the trunk, so that: a first short link (8), formed by two portions (8a) in L also articulated between sf, it is joined to a first passive axis (11), in correspondence with the first axis of rotational movement (A) of adduction-abduction, which is fixed integrally to the trochus; a second short link (9) that joins a second passive axis (12), in correspondence with the second rotational axis (B) of flexion-extension that is also fixed jointly to the trunk; and a third short link (10), to which the first two (8, 9) join and which, in turn, joins the end (6a) of the long link (6) of the humer where the third axis of the rotational movement (C) of medial-lateral rotation, there being in each of said unions a rotary cushion (13).
    [5]
    5. - ARTICULATED ARM, according to claim 4, characterized in that two springs (14) are provided that link the articulation (3) to the trunk, being fixed between the respective first and second passive axes (11, 12) and the trunk in that the arm is anchored (1).
    [6]
    6. - ARTICULATED ARM, according to any of claims 1 to 5, characterized in that the articulation of the elbow (4) comprises a fourth short link (15), which is a passive link that is joined together to the distal end (6b) of the first long link (6) corresponding to the humerus, and a fifth short link (16) which joins articulately to the fourth (15) and the proximal end (7a) of the second long link (7) corresponding to the cube-radio set, counting on said joints with respective rotary dampers (13) and coupled so as to determine the respective fourth (D) flexion-extension and fifth (E) pronation-supination rotational movements and which define the displacement of the forearm with respect to the upper arm section.
    [7]
    7. - ARTICULATED ARM, according to claim 6, characterized in that the inclusion of respective springs (14) joining the proximal end (7a) of the second long link (7) of the cube and radius assembly with the fourth short link (15) is contemplated. ) of the elbow joint (4).
    [8]
    8. - ARTICULATED ARM according to any of claims 1 to 7, characterized in that the wrist joint (5) comprises: a sixth short link (17), a seventh short link (18) that is attached to the element or elements of the hand (19) and an eighth short link (20), composed of two sections (20a) in L hingedly joined to each other, to which the above mentioned short links (17, 18) are articulated and which, in turn, are link to distal end (7b) of the second long link (7) of cube and radius, said joints being made by respective rotary dampers (13) defining the movements of the sixth rotational axis (F) of flexion-extension and seventh (G) of ulterior deviation radial.
    [9]
    9. - ARTICULATED ARM, according to claim 8, characterized in that the wrist articulation (5) comprises springs (14) that join their links (17, 18 and 20).
    [10]
    10. - ARTICULATED ARM, according to any of claims 1 to 9, characterized in that it also includes one or more additional joints in the hand that determine the movement of phalanges.
    [11]
    11. - ARTICULATED ARM according to any of claims 1 to 10, characterized in that the long links (6, 7) of the structure (2) are pieces made of laminated resin or rigid thermoplastic or material of similar strength, weight and characteristics.
    [12]
    12. - ARTICULATED ARM according to any of claims 1 to 11, characterized in that the short links (8, 9, 10, 15, 16, 17, 18, 20) of the joints (3, 4, 5) of the structure (2) are carbon fiber, aluminum or material of similar strength, weight and characteristics.
    [13]
    13. - ARTICULATED ARM according to any of claims 1 to 12, characterized in that the moving parts of the rotational dampers (13), springs (14) and shafts (11, 12) are made of duralumin stainless steel, aluminum, or resin or plastic of similar strength.
    [14]
    14. - ARTICULATED ARM, according to any of claims 1 to 13, characterized in that, where appropriate, the external cover (21) is a sheath of silicone, PVC or any material similar to the physical characteristics of the human arm.
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    同族专利:
    公开号 | 公开日
    ES2695502B2|2019-11-18|
    引用文献:
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    ES201730870A|ES2695502B2|2017-06-30|2017-06-30|ARTICULATED ARM|ES201730870A| ES2695502B2|2017-06-30|2017-06-30|ARTICULATED ARM|
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