It is proposed a design and control of series elastic holonomic mobile platform, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. It consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-of freedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, it is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. The device helps improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.

A posture holding device is for use in a transfer device which has a holding part configured to hold an object and a first link and a second link connected to the holding part. The transfer device moves the first link and the second link relative to the holding part so as to move the holding part between a transfer position and a standby position. The posture holding device holds a posture of the holding part and includes a magnetic gear rotatably connecting the first link and the second link to the holding part. The magnetic gear is disposed such that the one end of the first link connected to the holding part is rotated about a first axis and the one end of the second link connected to the holding part is rotated about the first axis or a second axis different from the first axis.

In this parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms such that the posture of the distal end side link hub can be altered relative to the proximal end side link hub. Each link mechanism includes proximal side and distal side end link members and an intermediate link member. Each end link member includes: a curved member curved by an arbitrary angle; and a rotation shaft support member fixed to one end of or each of opposite ends of the curved member, and configured to support a rotation shaft rotatably coupled directly or via a bearing to the intermediate link member or the link hub.

A link actuation device includes a proximal link hub, a distal link hub, link mechanisms that couple the link hubs, an actuator, and a control device. The actuator includes motors provided for link mechanisms, respectively. The control device stores a map in which drive command values for each of the motors corresponding to a plurality of discrete positions within a movable range of the distal link hub are stored. Upon receipt of a command value for movement to a position that coincides with none of the plurality of positions within the movable range, the control device determines a drive command value for each of the motors by interpolating a region surrounded by four points at the plurality of positions on the map using a polynomial curved surface formula.

A distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that alteration in posture of the distal end side link hub is allowed. Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. A line member is disposed between the link hubs, two ends of the line member being held at line member holding points which are on link hub central axes, respectively. In a state where the link hubs are parallel to each other, when the distance from a midpoint to each spherical link center is defined as (D) and the distance from each spherical link center to its corresponding line member holding point is defined as (H), the relationship H=0.5D is established.

An arm module includes a housing with a first connection side controllably rotatable relative to a second connection side, about an axis of rotation. The first connection side has a rotatable first connection device. The second connection side has a second connection device fixed to the housing, with a rotation-compatible data transmission device for transmitting data signals along at least one transmission path between the first and second connection sides. The transmission path includes at least one wireless transmission sub-path for wireless transmission of data signals, and at least one wire-guided transmission sub-path for wire-guided transmission of data signals. The rotation-compatible data transmission device includes at least one first wireless transmission unit and at least one second wireless transmission unit, interconnected via the transmission path and arranged to wirelessly transmit and receive data signals along the wireless transmission sub-path. An industrial robot can have a plurality of such arm modules.

Articulation having three degrees of freedom for a robot, comprising a platform (2), three motors (3a,3b,3c) each connected to a ring gear (4,4a,4b,4c) via a pinion (5a,5b,5c), each ring gear (4,4a,4b,4c) being arranged inside a hollow disk (6a,6b,6c) stacked on the base, such that each disk (6,6a,6b,6c) is as one with a ring gear (4,4a,4b,4c), each disk (6,6a,6b,6c) is moreover itself as one with a disk head (7,7a,7b,7c) extending in the same direction as the stack of the base and of the disks (6,6a,6b,6c), for each disk head (7,7a,7b,7c), an arm (8,8a,8b,8c) is connected in rotation on one hand to the disk head (7,7a,7b,7c) and on the other hand to the platform (2), each motor (3a,3b,3c) being at least partially contained inside at least one disk (6,6a,6b,6c).

A parallel link mechanism includes a proximal end-side link hub, three link mechanisms, a rotating body, and a distal end-side link hub. The rotating body is connected to one link mechanism among the three link mechanisms. The rotating body is rotatably coupled to the proximal end-side link hub. In the link mechanism, a first center axis of a first revolute pair portion intersects with a second center axis of a second revolute pair portion at a spherical link center point. The rotation center axis of the rotating body intersects with the spherical link center point.

A transmission device with multiple degrees of freedom includes a first platform, a second platform, a fixing platform, first branch chains, second branch chains and transmission assemblies. The first branch chains, the first platform (10) and the fixing platform form a first multiple degrees of freedom parallel mechanism having an output end. The second branch chains, the second platform and the fixing platform form a second multiple degrees of freedom parallel mechanism having an input end. A structure of the second branch chain is similar to a structure of the first branch chain, and a size of the second branch chain is enlarged or reduced in proportion to that of the first branch chain. The transmission assemblies are configured to couple the output end to the input end.

A rotational joint of intra-extra rotation for assistance of the movement of intra-extra rotation of a shoulder of a user. The rotational joint features a first circular guide arranged to rotate about a first rotation axis and a second circular guide arranged to rotate about a second rotation axis that is parallel to the first rotation axis. A support element is arranged to support the first and the second circular guides. The first and the second circular guide are pivotally connected by a conical wheel having a third rotation axis perpendicular to the first rotation axes and said conical wheel being pivotally constrained to the support element.