FR2522407B1 - Dispositif de detection par contact, notamment pour robot - Google Patents

Dispositif de detection par contact, notamment pour robot

Info

Publication number
FR2522407B1
FR2522407B1 FR8303281A FR8303281A FR2522407B1 FR 2522407 B1 FR2522407 B1 FR 2522407B1 FR 8303281 A FR8303281 A FR 8303281A FR 8303281 A FR8303281 A FR 8303281A FR 2522407 B1 FR2522407 B1 FR 2522407B1
Authority
FR
France
Prior art keywords
robot
detection device
contact detection
contact
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
FR8303281A
Other languages
English (en)
Other versions
FR2522407A1 (fr
Inventor
Jack Rebman
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lord Corp
Original Assignee
Lord Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lord Corp filed Critical Lord Corp
Publication of FR2522407A1 publication Critical patent/FR2522407A1/fr
Application granted granted Critical
Publication of FR2522407B1 publication Critical patent/FR2522407B1/fr
Expired legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/247—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet using distributed sensing elements, e.g. microcapsules
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5058—Prostheses not implantable in the body having means for restoring the perception of senses
    • A61F2002/5061—Prostheses not implantable in the body having means for restoring the perception of senses the sense of touch
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transplantation (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Social Psychology (AREA)
  • Surgery (AREA)
  • Psychiatry (AREA)
  • Psychology (AREA)
  • Educational Technology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Hospice & Palliative Care (AREA)
  • Developmental Disabilities (AREA)
  • Child & Adolescent Psychology (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • External Artificial Organs (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)
FR8303281A 1982-03-01 1983-02-28 Dispositif de detection par contact, notamment pour robot Expired FR2522407B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/353,435 US4521685A (en) 1982-03-01 1982-03-01 Tactile sensor for an industrial robot or the like

Publications (2)

Publication Number Publication Date
FR2522407A1 FR2522407A1 (fr) 1983-09-02
FR2522407B1 true FR2522407B1 (fr) 1986-08-14

Family

ID=23389090

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8303281A Expired FR2522407B1 (fr) 1982-03-01 1983-02-28 Dispositif de detection par contact, notamment pour robot

Country Status (7)

Country Link
US (1) US4521685A (fr)
JP (1) JPS58192790A (fr)
CA (1) CA1189163A (fr)
DE (2) DE3307012A1 (fr)
FR (1) FR2522407B1 (fr)
GB (1) GB2115935B (fr)
IT (1) IT1170305B (fr)

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US4221053A (en) * 1978-11-13 1980-09-09 Libbey-Owens-Ford Company Inspection apparatus
US4283714A (en) * 1979-08-08 1981-08-11 Texas Instruments Incorporated Magnetic keyboard system
JPS5725860A (en) * 1980-06-19 1982-02-10 Kocks Robert H Simplifying compounding device which is operated by pressure and fluid current
SE423318B (sv) * 1980-06-27 1982-05-03 Gambro Ab Memofiltrationssystem
US4394773A (en) * 1980-07-21 1983-07-19 Siemens Corporation Fingerprint sensor
US4405197A (en) * 1980-11-25 1983-09-20 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Optical fiber tactile sensor
DE3110022C2 (de) * 1981-03-16 1986-06-05 Fresenius AG, 6380 Bad Homburg Vorrichtung zur Erzeugung steriler Flüssigkeiten
DE3212230A1 (de) * 1981-03-31 1983-01-13 Günter van Dr.med. 4000 Düsseldorf Endert Verfahren zur herstellung von dialysierfluessigkeit zur verwendung in haemodialysegeraeten sowie vorrichtung zur durchfuehrung des verfahrens
DE8109529U1 (de) * 1981-03-31 1982-12-30 Endert, Günter van, Dr.med., 4000 Düsseldorf Vorrichtung zur Herstellung von Dialysierflüssigkeit zur Verwendung in Hämodialysegeräten
CA1183461A (fr) * 1981-05-01 1985-03-05 Russell L. Jeffery Appareil pour la preparation de dyalisats

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Publication number Publication date
CA1189163A (fr) 1985-06-18
IT1170305B (it) 1987-06-03
GB2115935A (en) 1983-09-14
US4521685A (en) 1985-06-04
GB2115935B (en) 1986-02-05
JPS58192790A (ja) 1983-11-10
IT8347822A0 (it) 1983-03-01
GB8305096D0 (en) 1983-03-30
FR2522407A1 (fr) 1983-09-02
DE3307112A1 (de) 1984-09-13
DE3307112C2 (de) 1984-12-20
DE3307012A1 (de) 1983-09-29

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