JP5728483B2 - 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 - Google Patents

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 Download PDF

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JP5728483B2
JP5728483B2 JP2012531440A JP2012531440A JP5728483B2 JP 5728483 B2 JP5728483 B2 JP 5728483B2 JP 2012531440 A JP2012531440 A JP 2012531440A JP 2012531440 A JP2012531440 A JP 2012531440A JP 5728483 B2 JP5728483 B2 JP 5728483B2
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segment
axis
rotation
rotation axis
handle
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JP2012531440A
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Japanese (ja)
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JP2013506564A5 (enExample
JP2013506564A (ja
Inventor
フロリアン・ゴスラン
ファビアン・フェルレイ
Original Assignee
コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ
コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ
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Priority claimed from FR0956901A external-priority patent/FR2950830B1/fr
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    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
JP2012531440A 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 Expired - Fee Related JP5728483B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
FR0956901 2009-10-02
FR0956901A FR2950830B1 (fr) 2009-10-02 2009-10-02 Structure de robot ou d'interface haptique a bras en paralleles
FR0958006 2009-11-13
FR0958006A FR2952573B1 (fr) 2009-10-02 2009-11-13 Structure de robot ou d'interface haptique a bras en parallele
PCT/EP2010/064623 WO2011039341A1 (fr) 2009-10-02 2010-10-01 Structure de robot ou d'interface haptique a bras en parallele

Publications (3)

Publication Number Publication Date
JP2013506564A JP2013506564A (ja) 2013-02-28
JP2013506564A5 JP2013506564A5 (enExample) 2013-10-17
JP5728483B2 true JP5728483B2 (ja) 2015-06-03

Family

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JP2012531440A Expired - Fee Related 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

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)

Cited By (1)

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KR101792566B1 (ko) * 2016-02-16 2017-11-02 한국과학기술연구원 병렬 링크 구조체 및 이를 구비한 역감 제시 인터페이스 시스템

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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
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

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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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101792566B1 (ko) * 2016-02-16 2017-11-02 한국과학기술연구원 병렬 링크 구조체 및 이를 구비한 역감 제시 인터페이스 시스템

Also Published As

Publication number Publication date
EP2483040A1 (fr) 2012-08-08
FR2952573B1 (fr) 2011-12-09
EP2483040B1 (fr) 2014-06-04
WO2011039341A1 (fr) 2011-04-07
JP2013506564A (ja) 2013-02-28
FR2952573A1 (fr) 2011-05-20
US8950286B2 (en) 2015-02-10
US20120234126A1 (en) 2012-09-20

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