FR2965501B1 - Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure - Google Patents

Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure

Info

Publication number
FR2965501B1
FR2965501B1 FR1057946A FR1057946A FR2965501B1 FR 2965501 B1 FR2965501 B1 FR 2965501B1 FR 1057946 A FR1057946 A FR 1057946A FR 1057946 A FR1057946 A FR 1057946A FR 2965501 B1 FR2965501 B1 FR 2965501B1
Authority
FR
France
Prior art keywords
flexible
mecatronic
manipulator assembly
surgical device
actuator
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
FR1057946A
Other languages
English (en)
Other versions
FR2965501A1 (fr
Inventor
Christine Rotinat-Libersa
Belen Solano
Javier Martin
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
Commissariat a lEnergie Atomique et aux Energies Alternatives 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
Application filed by Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR1057946A priority Critical patent/FR2965501B1/fr
Priority to EP11763949.2A priority patent/EP2621687A2/fr
Priority to PCT/EP2011/067202 priority patent/WO2012042054A2/fr
Priority to US13/876,158 priority patent/US20130298759A1/en
Publication of FR2965501A1 publication Critical patent/FR2965501A1/fr
Application granted granted Critical
Publication of FR2965501B1 publication Critical patent/FR2965501B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
FR1057946A 2010-09-30 2010-09-30 Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure Expired - Fee Related FR2965501B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1057946A FR2965501B1 (fr) 2010-09-30 2010-09-30 Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure
EP11763949.2A EP2621687A2 (fr) 2010-09-30 2011-09-30 Structure mecatronique integree pour un ensemble cinematique portatif
PCT/EP2011/067202 WO2012042054A2 (fr) 2010-09-30 2011-09-30 Structure mecatronique integree pour un ensemble cinematique portatif
US13/876,158 US20130298759A1 (en) 2010-09-30 2011-09-30 Integrated mecatronic structure for portable manipulator assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1057946A FR2965501B1 (fr) 2010-09-30 2010-09-30 Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure

Publications (2)

Publication Number Publication Date
FR2965501A1 FR2965501A1 (fr) 2012-04-06
FR2965501B1 true FR2965501B1 (fr) 2013-08-02

Family

ID=43919840

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1057946A Expired - Fee Related FR2965501B1 (fr) 2010-09-30 2010-09-30 Structure mecatronique flexible pour un ensemble cinematique, dispositif chirurgical et membre artificiel utilisant cette structure

Country Status (4)

Country Link
US (1) US20130298759A1 (fr)
EP (1) EP2621687A2 (fr)
FR (1) FR2965501B1 (fr)
WO (1) WO2012042054A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2643753C1 (ru) * 2014-01-22 2018-02-05 Альдебаран Роботикс Кисть, предназначенная для антропоморфного робота, с улучшенными пальцами

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107002721A (zh) * 2014-06-09 2017-08-01 软机器人公司 使用非对称表面的软机器人致动器
US10118301B2 (en) 2014-09-17 2018-11-06 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US10189168B2 (en) * 2014-11-18 2019-01-29 Soft Robotics, Inc. Soft robotic actuator enhancements
EP3221583B1 (fr) * 2014-11-18 2022-11-02 Soft Robotics, Inc. Perfectionnements pour actionneurs robotiques doux
US9505135B1 (en) * 2015-08-28 2016-11-29 Tyco Electronics Corporation Gripper with conformal spring fingers
CN105965533B (zh) * 2016-06-17 2023-07-25 重庆科技学院 组合式气动柔性手指
WO2018073833A1 (fr) * 2016-10-18 2018-04-26 Bendflex Research And Development Private Limited Manipulateur d'échantillon
CN106393166A (zh) * 2016-10-25 2017-02-15 上海交通大学 精密器件夹持器
US10850406B2 (en) * 2017-04-27 2020-12-01 Massachusetts Institute Of Technology Non-planar shearing auxetic structures, devices, and methods
CN107081777B (zh) * 2017-05-10 2023-06-16 中国科学技术大学 基于形状记忆合金柔体智能数字复合结构的仿人灵巧手
WO2018230729A1 (fr) * 2017-06-15 2018-12-20 ニッタ株式会社 Structure de doigt, dispositif de préhension, main de robot et robot industriel
DE102018106578A1 (de) * 2018-03-20 2019-09-26 Olympus Winter & Ibe Gmbh Vorrichtung zur Freilegung und Offenhaltung eines Operationsgebietes
EP3563982A1 (fr) * 2018-05-04 2019-11-06 J. Schmalz GmbH Système de montage destiné au montage sur une pince aspirante élastique déformables et actionneur mécanique
DE202018003677U1 (de) * 2018-08-07 2019-11-08 Hans Heidolph GmbH Laborgerät mit einer Befestigungsvorrichtung für ein abnehmbares Element
CN110056721A (zh) * 2019-04-26 2019-07-26 太原航空仪表有限公司 气动挠曲波纹管
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles
US11865703B2 (en) * 2019-12-05 2024-01-09 Sanctuary Cognitive Systems Corporation Flexible mechanical joint
CN114012781B (zh) * 2021-08-27 2023-06-16 北华大学 连续型螺旋嵌套约束气动变刚度柔性臂
IL290055A (en) * 2022-01-23 2023-08-01 Yonina Dison Flexible structure for robot use
CN118163009A (zh) * 2024-05-15 2024-06-11 四川大学 柔性自适应力控接触装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1751865A1 (de) * 1968-08-09 1971-08-19 Rich Stanley Robert Motorelement
US4790624A (en) * 1986-10-31 1988-12-13 Identechs Corporation Method and apparatus for spatially orienting movable members using shape memory effect alloy actuator
DE59300152D1 (de) * 1993-06-11 1995-05-24 Wolfgang Daum Elastischer Körper.
DE4426811C1 (de) * 1994-07-28 1995-10-19 Siemens Ag Präzise steuerbarer flexibler Aktor
US5668432A (en) * 1995-03-24 1997-09-16 Nippondenso Co., Ltd. Articulation device
DE19833340A1 (de) * 1998-07-24 2000-02-10 Karlsruhe Forschzent Wurmförmiger Arbeitsmechanismus
CN101622107B (zh) * 2006-10-13 2012-09-19 机扑工程技术利得股份有限公司 蠕虫状机构

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2643753C1 (ru) * 2014-01-22 2018-02-05 Альдебаран Роботикс Кисть, предназначенная для антропоморфного робота, с улучшенными пальцами

Also Published As

Publication number Publication date
US20130298759A1 (en) 2013-11-14
FR2965501A1 (fr) 2012-04-06
WO2012042054A2 (fr) 2012-04-05
EP2621687A2 (fr) 2013-08-07
WO2012042054A3 (fr) 2012-06-21

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Effective date: 20160531