FR2952573B1 - Structure de robot ou d'interface haptique a bras en parallele - Google Patents

Structure de robot ou d'interface haptique a bras en parallele

Info

Publication number
FR2952573B1
FR2952573B1 FR0958006A FR0958006A FR2952573B1 FR 2952573 B1 FR2952573 B1 FR 2952573B1 FR 0958006 A FR0958006 A FR 0958006A FR 0958006 A FR0958006 A FR 0958006A FR 2952573 B1 FR2952573 B1 FR 2952573B1
Authority
FR
France
Prior art keywords
robot
parallel arm
haptic interface
haptic
interface
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 - Fee Related
Application number
FR0958006A
Other languages
English (en)
French (fr)
Other versions
FR2952573A1 (fr
Inventor
Florian Gosselin
Fabien Ferlay
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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
Priority claimed from FR0956901A external-priority patent/FR2950830B1/fr
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR0958006A priority Critical patent/FR2952573B1/fr
Priority to EP10765775.1A priority patent/EP2483040B1/fr
Priority to JP2012531440A priority patent/JP5728483B2/ja
Priority to PCT/EP2010/064623 priority patent/WO2011039341A1/fr
Priority to US13/499,427 priority patent/US8950286B2/en
Publication of FR2952573A1 publication Critical patent/FR2952573A1/fr
Application granted granted Critical
Publication of FR2952573B1 publication Critical patent/FR2952573B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/25—Gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20372—Manual controlling elements
    • Y10T74/20384—Levers

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
FR0958006A 2009-10-02 2009-11-13 Structure de robot ou d'interface haptique a bras en parallele Expired - Fee Related FR2952573B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR0958006A FR2952573B1 (fr) 2009-10-02 2009-11-13 Structure de robot ou d'interface haptique a bras en parallele
EP10765775.1A EP2483040B1 (fr) 2009-10-02 2010-10-01 Structure de robot ou d'interface haptique a bras en parallele
JP2012531440A JP5728483B2 (ja) 2009-10-02 2010-10-01 平行アームを持つロボットあるいは触覚インターフェース構造体
PCT/EP2010/064623 WO2011039341A1 (fr) 2009-10-02 2010-10-01 Structure de robot ou d'interface haptique a bras en parallele
US13/499,427 US8950286B2 (en) 2009-10-02 2010-10-01 Robot or haptic interface structure with parallel arms

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0956901A FR2950830B1 (fr) 2009-10-02 2009-10-02 Structure de robot ou d'interface haptique a bras en paralleles
FR0958006A FR2952573B1 (fr) 2009-10-02 2009-11-13 Structure de robot ou d'interface haptique a bras en parallele

Publications (2)

Publication Number Publication Date
FR2952573A1 FR2952573A1 (fr) 2011-05-20
FR2952573B1 true FR2952573B1 (fr) 2011-12-09

Family

ID=43088278

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0958006A Expired - Fee Related FR2952573B1 (fr) 2009-10-02 2009-11-13 Structure de robot ou d'interface haptique a bras en parallele

Country Status (5)

Country Link
US (1) US8950286B2 (enExample)
EP (1) EP2483040B1 (enExample)
JP (1) JP5728483B2 (enExample)
FR (1) FR2952573B1 (enExample)
WO (1) WO2011039341A1 (enExample)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008015178A1 (fr) * 2006-07-31 2008-02-07 Commissariat A L'energie Atomique Membre articule c0mportant des fibres, et structure articulee et robot ou interface haptique c0mp0rtant un tel membre articule
FR2961423B1 (fr) 2010-06-17 2012-07-27 Commissariat Energie Atomique Reducteur a grand rapport de reduction, robot et interface haptique comportant au moins un tel reducteur
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
FR2984204A1 (fr) 2011-12-20 2013-06-21 Commissariat Energie Atomique Membre articule pour robot ou interface haptique et robot et interface haptique comportant au moins un tel membre articule
JP2014073222A (ja) * 2012-10-04 2014-04-24 Sony Corp 運動補助装置及び運動補助方法
WO2014145188A2 (en) 2013-03-15 2014-09-18 Stryker Corporation End effector of a surgical robotic manipulator
US9128507B2 (en) * 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
US20150283709A1 (en) * 2014-04-08 2015-10-08 Sergei Dalakian Industrial Robot Arm
CN104546147A (zh) * 2015-02-14 2015-04-29 中国科学院重庆绿色智能技术研究院 一种腹腔镜微创手术机器人机械臂rcm机构
FR3037841B1 (fr) * 2015-06-26 2017-08-18 Haption Bras articule motorise a cabestan a cable securise.
KR101603044B1 (ko) * 2015-07-31 2016-03-11 고려대학교 산학협력단 6자유도 메커니즘 햅틱장치
KR101792566B1 (ko) * 2016-02-16 2017-11-02 한국과학기술연구원 병렬 링크 구조체 및 이를 구비한 역감 제시 인터페이스 시스템
JP2018001385A (ja) * 2016-07-08 2018-01-11 ソニー株式会社 パラレルリンク装置、産業用ロボット、及び力覚提示装置
EP3506851B1 (en) 2016-09-02 2025-08-27 Exonetik Inc. Telepresence controller and system using magnetorheological fluid clutch apparatuses
KR101780803B1 (ko) * 2017-04-12 2017-09-21 한국지질자원연구원 Rov lars용 진회수 보조장치
CN108721009B (zh) * 2017-04-14 2019-08-16 香港中文大学 磁流变串联弹性驱动器
JP6936712B2 (ja) * 2017-11-24 2021-09-22 川崎重工業株式会社 操作装置
JP7420543B2 (ja) * 2019-12-13 2024-01-23 川崎重工業株式会社 遠隔操縦装置
US12121768B2 (en) * 2020-03-19 2024-10-22 Proteus Motion Inc. Exercise device having a linear arm portion
US11529543B2 (en) * 2020-03-19 2022-12-20 Proteus Motion Inc. Exercise device having a linear arm portion
US12226892B2 (en) * 2020-09-07 2025-02-18 The Board Of Trustees Of The Leland Stanford Junior University Compact paired parallel architecture for high-fidelity haptic applications
US11422632B1 (en) * 2021-08-27 2022-08-23 Andrew Flessas System and method for precise multi-dimensional movement of haptic stimulator

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989005217A1 (en) 1984-04-12 1989-06-15 Rosheim Mark E Wrist actuator
CA1273379A (en) 1986-01-21 1990-08-28 Mark E. Rosheim Wrist tendon actuator
US5207114A (en) * 1988-04-21 1993-05-04 Massachusetts Institute Of Technology Compact cable transmission with cable differential
IT1241622B (it) * 1990-10-04 1994-01-25 Comau Spa Polso di robot
US5193963A (en) * 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
US6522906B1 (en) * 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
JP3806273B2 (ja) 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
FR2809047B1 (fr) * 2000-05-18 2002-07-12 Commissariat Energie Atomique Bras de commande parallele a deux branches
FR2853273B1 (fr) 2003-04-04 2006-03-10 Commissariat Energie Atomique Dispositif d'actionnement, notamment pour un bras articule
FR2853272B1 (fr) * 2003-04-04 2006-03-10 Commissariat Energie Atomique Bras articule comprenant des transmissions a cable
ES2258917B1 (es) 2005-02-17 2007-12-01 Fundacion Fatronik Robot paralelo con cuatro grados de libertad de alta velocidad.
WO2008015178A1 (fr) 2006-07-31 2008-02-07 Commissariat A L'energie Atomique Membre articule c0mportant des fibres, et structure articulee et robot ou interface haptique c0mp0rtant un tel membre articule
FR2961423B1 (fr) 2010-06-17 2012-07-27 Commissariat Energie Atomique Reducteur a grand rapport de reduction, robot et interface haptique comportant au moins un tel reducteur

Also Published As

Publication number Publication date
EP2483040A1 (fr) 2012-08-08
EP2483040B1 (fr) 2014-06-04
WO2011039341A1 (fr) 2011-04-07
JP2013506564A (ja) 2013-02-28
FR2952573A1 (fr) 2011-05-20
JP5728483B2 (ja) 2015-06-03
US8950286B2 (en) 2015-02-10
US20120234126A1 (en) 2012-09-20

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Legal Events

Date Code Title Description
ST Notification of lapse

Effective date: 20160729