Mechanical transmission for robotic devices

An anthropomorphic robotic exoskeleton physically interacting with a human being comprising:

• a mechanical transmission for robotic devices, said mechanical transmission including:
• a transmission element intended to be diverted between an input direction and an output direction,
• an input pulley configured to rotate around a first axis of rotation orthogonal to said input direction and to be at least partly wrapped by both the forward branch and the return branches of said transmission element,
• an output pulley configured to rotate around a second axis of rotation orthogonal to said output direction and to be at least partly wrapped by said transmission element, said second axis of rotation being non-parallel to said first axis of rotation,
• wherein said first axis of rotation and said second axis of rotation form between them a deflection angle having predefined value, and
• one intermediate pulley positioned between said input pulley and said output pulley and configured to rotate around a third axis of rotation, lying in one of the planes identified by said axes and inclined with respect to one of said axes of rotation by an angle having smaller value than the value of said deflection angle, and to be partly wrapped by said transmission element,
• wherein the planes of rotation of said pulleys are non-parallel,
• wherein said pulleys have a substantially cone or truncated cone shape, and
• wherein the axes of the input, output and intermediate pulleys lie in the same plane.