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1. 发明申请

US20120234126A1 ROBOT OR HAPTIC INTERFACE STRUCTURE WITH PARALLEL ARMS 有权
标题翻译：机器人或平面接口结构与平行机构
公开(公告)号：US20120234126A1
公开(公告)日：2012-09-20
申请号：US13499427
申请日：2010-10-01
申请人： Florian Gosselin , Fabien Ferlay
发明人： Florian Gosselin , Fabien Ferlay
IPC分类号： G05G11/00
CPC分类号： B25J13/02 , B25J3/04 , B25J13/025 , Y10S901/25 , Y10T74/20329 , Y10T74/20335 , Y10T74/20384
摘要： A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.
摘要翻译：具有机器人或触觉界面的六自由度的结构，包括基座，两个平行的分支以及腕关节。分支被安装在基座与腕关节之间，分支包括肩部，臂和支撑腕关节的前臂。腕关节包括连接段，手柄保持器围绕第一旋转轴线铰接在该连接段上。手柄在手柄保持器周围绕第二旋转轴线旋转地铰接，手柄能够围绕第一轴线，第二轴线和第三轴线旋转移动，并且机构沿手柄保持器的旋转减速至少相对于连接段的旋转的第一旋转轴线。

2. 发明授权

US09145955B2 Reducing device having a high reduction ratio, robot and haptic interface comprising at least one such reducing device 有权
标题翻译：具有高减速比的减速装置，包括至少一个这种减速装置的机器人和触觉界面
公开(公告)号：US09145955B2
公开(公告)日：2015-09-29
申请号：US13704808
申请日：2011-06-15
申请人： Fabien Ferlay , Florian Gosselin
发明人： Fabien Ferlay , Florian Gosselin
IPC分类号： F16H9/04 , B25J9/10 , B25J13/02 , F16H19/06 , F16H19/00
CPC分类号： F16H9/04 , B25J9/104 , B25J13/02 , F16H19/005 , F16H19/06 , F16H2019/0695 , Y10T74/18848
摘要： A reducing device having a cable or a belt and cable, providing a high reduction ratio, and including: two driving drums; two sheave wheels; at least one driving cable traveling from a first driving drum to one sheave wheel, from the one sheave wheel to the second driving drum, from the second driving drum to the other sheave wheel, and from the other sheave wheel to the first driving drum; a driven cable, including one strand which travels from a fork of the one sheave wheel to a driven wheel, and one strand which travels from the driven wheel to a fork of the other sheave wheel. The driving drums have different diameters and/or different rotation speeds so rotation thereof causes movement of the sheave wheels driving the driven cable, and rotation movement of the driven wheel. The reducing device is applicable, for example, to robots and haptic interfaces.
摘要翻译：一种具有电缆或带和电缆的减速装置，提供高的减速比，并且包括：两个驱动鼓; 两个滑轮; 至少一个从第一驱动滚筒行进到一个滑轮的驱动缆索，从一个滑轮到第二驱动滚筒，从第二驱动滚筒到另一个滑轮轮，从另一个滑轮到第一驱动滚筒; 从动电缆，包括从一个滑车轮的叉子行进到从动轮的一根绳索，以及从从动轮行进到另一个轮轮的叉的一根绳索。驱动鼓具有不同的直径和/或不同的转速，因此其旋转引起驱动从动缆线的滑轮轮的运动和从动轮的旋转运动。还原装置例如适用于机器人和触觉接口。

3. 发明授权

US09285841B2 Display device having a deformable surface and position sensors 有权
标题翻译：具有可变形表面和位置传感器的显示装置
公开(公告)号：US09285841B2
公开(公告)日：2016-03-15
申请号：US14119289
申请日：2012-05-24
申请人： Christian Bolzmacher , Fabien Ferlay , Moustapha Hafez , Florian Periquet
发明人： Christian Bolzmacher , Fabien Ferlay , Moustapha Hafez , Florian Periquet
IPC分类号： G06F1/16 , G06F3/01 , G09B21/00 , G06F3/041 , G06F3/0481
CPC分类号： G06F1/1692 , G06F3/016 , G06F3/041 , G06F3/04812 , G06F2203/04102 , G09B21/003 , G09B21/004
摘要： A display device including a deformable surface, including: plural actuators including mobile elements that can be moved to deform the deformable surface, the mobile elements being distributed in a space occupied by the deformable surface; a set of position sensors for sensing the position of at least one touch, and distributed in the space occupied by the deformable surface; and an elastic flexible membrane placed against the mobile elements, extending through the space occupied by the deformable surface and configured to accompany deformation of the deformable surface. The set of sensors is secured to the elastic flexible membrane and distributed in a regular manner in the space occupied by the deformable surface in an array of electricity conductors configured to accompany deformations of the elastic flexible membrane.
摘要翻译：一种包括可变形表面的显示装置，包括：多个致动器，包括可移动以使可变形表面变形的移动元件，所述移动元件分布在由所述可变形表面占据的空间中; 用于感测至少一个触摸的位置并分布在由可变形表面占据的空间中的一组位置传感器; 以及弹性柔性膜，其抵靠所述可移动元件放置，延伸穿过由所述可变形表面占据的空间并且被配置为伴随所述可变形表面的变形。该组传感器被固定到弹性柔性膜上并且以规则的方式分布在由可变形表面占据的空间中，该空间被配置成伴随着弹性柔性膜的变形。

4. 发明授权

US08950286B2 Robot or haptic interface structure with parallel arms 有权
标题翻译：具有平行臂的机器人或触觉界面结构
公开(公告)号：US08950286B2
公开(公告)日：2015-02-10
申请号：US13499427
申请日：2010-10-01
申请人： Florian Gosselin , Fabien Ferlay
发明人： Florian Gosselin , Fabien Ferlay
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B25J13/02 , B25J3/04
CPC分类号： B25J13/02 , B25J3/04 , B25J13/025 , Y10S901/25 , Y10T74/20329 , Y10T74/20335 , Y10T74/20384
摘要： A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.
摘要翻译：具有机器人或触觉界面的六自由度的结构，包括基座，两个平行的分支以及腕关节。分支被安装在基座与腕关节之间，分支包括肩部，臂和支撑腕关节的前臂。腕关节包括连接段，手柄保持器围绕第一旋转轴线铰接在该连接段上。手柄在手柄保持器周围绕第二旋转轴线旋转地铰接，手柄能够围绕第一轴线，第二轴线和第三轴线旋转移动，并且机构沿手柄保持器的旋转减速至少相对于连接段的旋转的第一旋转轴线。

5. 发明申请

US20140184947A1 DISPLAY DEVICE HAVING A DEFORMABLE SURFACE AND POSITION SENSORS 有权
标题翻译：具有可变表面和位置传感器的显示装置
公开(公告)号：US20140184947A1
公开(公告)日：2014-07-03
申请号：US14119289
申请日：2012-05-24
申请人： Christian Bolzmacher , Fabien Ferlay , Moustapha Hafez , Florian Periquet
发明人： Christian Bolzmacher , Fabien Ferlay , Moustapha Hafez , Florian Periquet
IPC分类号： G06F1/16
CPC分类号： G06F1/1692 , G06F3/016 , G06F3/041 , G06F3/04812 , G06F2203/04102 , G09B21/003 , G09B21/004
摘要： A display device including a deformable surface, including: plural actuators including mobile elements that can be moved to deform the deformable surface, the mobile elements being distributed in a space occupied by the deformable surface; a set of position sensors for sensing the position of at least one touch, and distributed in the space occupied by the deformable surface; and an elastic flexible membrane placed against the mobile elements, extending through the space occupied by the deformable surface and configured to accompany deformation of the deformable surface. The set of sensors is secured to the elastic flexible membrane and distributed in a regular manner in the space occupied by the deformable surface in an array of electricity conductors configured to accompany deformations of the elastic flexible membrane.
摘要翻译：一种包括可变形表面的显示装置，包括：多个致动器，包括可移动以使可变形表面变形的移动元件，所述移动元件分布在由所述可变形表面占据的空间中; 用于感测至少一个触摸的位置并分布在由可变形表面占据的空间中的一组位置传感器; 以及弹性柔性膜，其抵靠所述可移动元件放置，延伸穿过由所述可变形表面占据的空间并且被配置为伴随所述可变形表面的变形。该组传感器被固定到弹性柔性膜上并且以规则的方式分布在由可变形表面占据的空间中，该空间被配置成伴随着弹性柔性膜的变形。

6. 发明申请

US20130090194A1 REDUCING DEVICE HAVING A HIGH REDUCTION RATIO, ROBOT AND HAPTIC INTERFACE COMPRISING AT LEAST ONE SUCH REDUCING DEVICE 有权
标题翻译：具有包括至少一个这样减少装置的高降低率，机器人和快速接口的减少装置
公开(公告)号：US20130090194A1
公开(公告)日：2013-04-11
申请号：US13704808
申请日：2011-06-15
申请人： Fabien Ferlay , Florian Gosselin
发明人： Fabien Ferlay , Florian Gosselin
IPC分类号： F16H9/04
CPC分类号： F16H9/04 , B25J9/104 , B25J13/02 , F16H19/005 , F16H19/06 , F16H2019/0695 , Y10T74/18848
摘要： A reducing device having a cable or a belt and cable, providing a high reduction ratio, and including: two driving drums; two sheave wheels; at least one driving cable traveling from a first driving drum to one sheave wheel, from the one sheave wheel to the second driving drum, from the second driving drum to the other sheave wheel, and from the other sheave wheel to the first driving drum; a driven cable, including one strand which travels from a fork of the one sheave wheel to a driven wheel, and one strand which travels from the driven wheel to a fork of the other sheave wheel. The driving drums have different diameters and/or different rotation speeds so rotation thereof causes movement of the sheave wheels driving the driven cable, and rotation movement of the driven wheel. The reducing device is applicable, for example, to robots and haptic interfaces.
摘要翻译：一种具有电缆或带和电缆的减速装置，提供高的减速比，并且包括：两个驱动鼓; 两个滑轮; 至少一个从第一驱动滚筒行进到一个滑轮的驱动缆索，从一个滑轮到第二驱动滚筒，从第二驱动滚筒到另一个滑轮轮，从另一个滑轮到第一驱动滚筒; 从动电缆，包括从一个滑车轮的叉子行进到从动轮的一根绳索，以及从从动轮行进到另一个轮轮的叉的一根绳索。驱动鼓具有不同的直径和/或不同的转速，因此其旋转引起驱动从动缆线的滑轮轮的运动和从动轮的旋转运动。还原装置例如适用于机器人和触觉接口。

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