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1. 发明申请

US20060249717A1 Device for transmitting a movement having a parallel kinematics transmission structure providing three translational degrees of freedom 审中-公开
标题翻译：用于发送具有提供三个平移自由度的平行运动传递结构的运动的装置
公开(公告)号：US20060249717A1
公开(公告)日：2006-11-09
申请号：US10564344
申请日：2004-07-09
申请人： Francois Conti
发明人： Francois Conti
IPC分类号： B66D1/48
CPC分类号： B25J17/0266 , B25J9/0015
摘要： The invention is directed to a device for transmitting a movement having a parallel kinematics transmission structure (3) providing three translational degrees of freedom, said structure comprising one base member (1), one moveable member (2), at least one rotative actuator (30) arranged on the base member (1), parallel kinematics chains coupling the base member to the moveable member, each chain comprising a pivoting control arm (10), wherein the rotary motion of the at least one rotative actuator (30) is transmitted to a respective pivoting control arm (10) so that any translational movement of the moveable member is transmitted into a rotational movement of the control arms or vice versa, and wherein the at least one rotative actuator (30) is arranged such that its axis (31) is substantially perpendicular to the rotation axis of the control arms (10). The parallel kinematics transmission structure comprises three parallel kinematics chains, each chain comprising a pivoting control arm and a pair of parallel linking bars hingedly mounted by two rotational degrees of freedom joints at one end to an extremity of the control arm and at the other end to moveable member, thus forming a delta type arrangement, wherein each chain is provided with a respective rotative actuator and wherein the rotative actuators are arranged such that their axis are substantially parallel to each other. The movement between the rotative actuators and the control arms are transmitted by cable members (51).
摘要翻译：本发明涉及一种用于传输具有平行运动学传递结构（3）的运动的装置，其提供三个平移自由度，所述结构包括一个基座构件（1），一个可移动构件（2），至少一个旋转致动器 30），布置在基座构件（1）上的平行运动学链条，将基座构件联接到可移动构件上，每个链条包括枢转控制臂（10），其中传送至少一个旋转致动器（30）的旋转运动到相应的枢转控制臂（10），使得可移动构件的任何平移运动被传递到控制臂的旋转运动或反之亦然，并且其中至少一个旋转致动器（30）被布置成使得其轴线 31）基本上垂直于控制臂（10）的旋转轴线。平行运动传递结构包括三个平行的运动学链，每个链包括枢转控制臂和一对平行的连接杆，其一端由控制臂的末端的两个旋转自由度关节铰接地安装到另一端从而形成三角形排列，其中每个链条设置有相应的旋转致动器，并且其中旋转致动器布置成使得它们的轴线基本上彼此平行。旋转致动器和控制臂之间的运动由电缆部件（51）传递。

2. 发明申请

US20120090423A1 ACTIVE GRIPPER FOR HAPTIC DEVICES 有权
标题翻译：主动抓斗用于打嗝装置
公开(公告)号：US20120090423A1
公开(公告)日：2012-04-19
申请号：US12306825
申请日：2007-06-26
申请人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
发明人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
IPC分类号： B25J13/02 , G05G1/00 , G05G5/02
CPC分类号： G06F3/045 , B25J13/02 , B25J17/0266 , G05G1/02 , G05G5/03 , Y10T74/20305 , Y10T74/20396 , Y10T74/20732
摘要： An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.
摘要翻译：用于触觉装置的主动夹持器，包括提供包括三个平移自由度的至少三个自由度的平行运动学结构，其中所述夹持器包括适于由用户的手的第一部分接触的第一接触表面，第二接触表面适于由用户的手的第二部分接触，该手的第二部分可相对于手的第一部分移动;以及可移动构件，其布置在第一接触表面和第二接触表面之间，并且适于主动地相对于彼此移动第一接触表面和第二接触表面。

3. 发明授权

US10001804B2 Force-feedback device and method 有权
公开(公告)号：US10001804B2
公开(公告)日：2018-06-19
申请号：US12228260
申请日：2008-08-11
申请人： Francois Conti , Sebastien Grange , Patrick Helmer , Patrice Rouiller
发明人： Francois Conti , Sebastien Grange , Patrick Helmer , Patrice Rouiller
IPC分类号： B60T13/04 , G05G9/047 , G05G5/03 , H02K49/00
CPC分类号： G05G9/047 , G05G5/03 , G05G2009/04766
摘要： A force-feedback device comprising a first member; a first kinematics bond being coupled with said first member; said first kinematics bond being constructed to provide at least one degree of freedom for movements of said first member; said first kinematics bond comprising a braking device being constructed to constrain movements of the said first member in at least one of said at least one degree of freedom; and a energy storing/release device being constructed to store energy in response to a movement of said first member in at least one of said at least one degree of freedom constrained by said braking device. A method of providing force-feedback including constraining a movement of a member of a haptic device in at least one degree of freedom; moving the member, by an externally applied force, in at least one of the at least one constraint degree of freedom; storing energy generated by the moving of the member; determining a force required to move the member in at least one of the at least one constraint degree of freedom; releasing at least a portion of the stored energy to generate at least a portion of the required force and transmitting the at least a portion of the required force to the member.

4. 发明授权

US08667860B2 Active gripper for haptic devices 有权
标题翻译：触觉装置的主动夹持器
公开(公告)号：US08667860B2
公开(公告)日：2014-03-11
申请号：US12306825
申请日：2007-06-26
申请人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
发明人： Patrick Helmer , Francois Conti , Sébastien Grange , Patrice Rouiller
IPC分类号： B25J3/02
CPC分类号： G06F3/045 , B25J13/02 , B25J17/0266 , G05G1/02 , G05G5/03 , Y10T74/20305 , Y10T74/20396 , Y10T74/20732
摘要： An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.
摘要翻译：用于触觉装置的主动夹持器，包括提供包括三个平移自由度的至少三个自由度的平行运动学结构，其中所述夹持器包括适于由用户的手的第一部分接触的第一接触表面，第二接触表面适于由用户的手的第二部分接触，该手的第二部分可相对于手的第一部分移动;以及可移动构件，其布置在第一接触表面和第二接触表面之间，并且适于主动地相对于彼此移动第一接触表面和第二接触表面。

5. 发明申请

US20100032255A1 Force-feedback device and method 有权
标题翻译：力反馈装置和方法
公开(公告)号：US20100032255A1
公开(公告)日：2010-02-11
申请号：US12228260
申请日：2008-08-11
申请人： Francois Conti , Sebastian Grange , Patrick Helmer , Patrice Rouiller
发明人： Francois Conti , Sebastian Grange , Patrick Helmer , Patrice Rouiller
IPC分类号： F16D61/00
CPC分类号： G05G9/047 , G05G5/03 , G05G2009/04766
摘要： A force-feedback device comprising a first member; a first kinematics bond being coupled with said first member; said first kinematics bond being constructed to provide at least one degree of freedom for movements of said first member; said first kinematics bond comprising a braking device being constructed to constrain movements of the said first member in at least one of said at least one degree of freedom; and a energy storing/release device being constructed to store energy in response to a movement of said first member in at least one of said at least one degree of freedom constrained by said braking device. A method of providing force-feedback including constraining a movement of a member of a haptic device in at least one degree of freedom; moving the member, by an externally applied force, in at least one of the at least one constraint degree of freedom; storing energy generated by the moving of the member; determining a force required to move the member in at least one of the at least one constraint degree of freedom; releasing at least a portion of the stored energy to generate at least a portion of the required force and transmitting the at least a portion of the required force to the member.
摘要翻译：一种力反馈装置，包括第一构件; 与所述第一构件耦合的第一运动学键; 所述第一运动学键被构造成为所述第一构件的运动提供至少一个自由度; 所述第一运动学键包括制动装置，其被构造成以所述至少一个自由度中的至少一个限制所述第一构件的运动; 以及能量存储/释放装置，其被构造为响应于所述第一构件在由所述制动装置约束的所述至少一个自由度中的至少一个中的运动而存储能量。一种提供力反馈的方法，包括以至少一个自由度约束触觉装置的构件的运动; 通过外部施加的力移动该成员至少一个约束自由度中的至少一个; 存储由所述构件的移动产生的能量; 确定在所述至少一个约束自由度中的至少一个中移动所述构件所需的力; 释放存储的能量的至少一部分以产生所需力的至少一部分并将所需力的至少一部分传递到构件。

6. 发明授权

US08806974B2 Device for transmitting movements and components thereof 有权
标题翻译：用于发送动作及其部件的装置
公开(公告)号：US08806974B2
公开(公告)日：2014-08-19
申请号：US11815889
申请日：2006-02-10
申请人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
发明人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
IPC分类号： G05G1/00 , G05G9/047 , B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J17/0266 , Y10S901/15 , Y10T74/20 , Y10T74/20012 , Y10T74/20201 , Y10T74/20305
摘要： A device for transmitting movements comprising a parallel kinematics transmission structure adapted to provide at least one degree of freedom including three translational degrees of freedom, the parallel kinematics transmission structure further comprising a base member (2), a moveable member (4), and at least one parallel kinematics chain (6) coupling the base member (2) and the moveable member (4), each parallel kinematics chain (6) having a first arm (8) moveable in a movement plane wherein the movement planes are at a distance to a symmetry axis (40), and each parallel kinematics chain (6) comprising a second arm (10) coupled to the moveable member (4), wherein a first end (18) of the second arm (10) is adapted to be coupled to the first arm (8) and a second end (16) of the second arm (10) is adapted to be coupled to the moveable member (4).
摘要翻译：一种用于传送运动的装置，包括适于提供包括三个平移自由度的至少一个自由度的平行运动传递结构，所述平行运动传递结构还包括基部构件（2），可移动构件（4）至少一个平行运动链（6），其联接所述基部构件（2）和所述可移动构件（4），每个平行的运动学链（6）具有可在运动平面中移动的第一臂（8），其中所述运动平面处于距离并且每个平行的运动学链（6）包括联接到所述可移动构件（4）的第二臂（10），其中所述第二臂（10）的第一端（18）适于耦合到所述第一臂（8）并且所述第二臂（10）的第二端（16）适于联接到所述可移动构件（4）。

7. 发明授权

US07626571B2 Workspace expansion controller for human interface systems 失效
标题翻译：人机接口系统的工作区扩展控制器
公开(公告)号：US07626571B2
公开(公告)日：2009-12-01
申请号：US11645210
申请日：2006-12-22
申请人： Francois Conti , Oussama Khatib
发明人： Francois Conti , Oussama Khatib
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F3/011
摘要： A workspace expansion controller for human interface systems is provided. The controller resolves the physical workspace constraint by relocating the physical workspace of the device mapped inside the environment (virtual or robot) towards the area of interest of the operator without disturbing his or her perception of the environment. The controller is based on the fact that people are greatly influenced by what they perceive visually and often do not notice small deviations in their hand unless that small deviation has a corresponding visual component. With this new control approach the operator can explore much larger workspaces without losing spatial resolution through high scaling factors and thus avoid the drawbacks of indexing common with current approaches.
摘要翻译：提供了一种用于人机接口系统的工作区扩展控制器。控制器通过将在环境（虚拟或机器人）内部映射的设备的物理工作空间重新定位到运营商感兴趣的区域来解决物理工作空间约束，而不会影响他或她对环境的感知。控制器基于这样一个事实，即人们受到他们视觉上感知的影响的很大的影响，并且经常没有注意到他们手中的小偏差，除非那个小偏差具有相应的视觉分量。通过这种新的控制方法，操作员可以探索更大的工作空间，而不会通过高比例因子降低空间分辨率，从而避免与当前方法相同的索引的缺点。

8. 发明申请

US20080223165A1 Device For Transmitting Movements and Components Thereof 有权
标题翻译：用于发射运动及其组件的装置
公开(公告)号：US20080223165A1
公开(公告)日：2008-09-18
申请号：US11815889
申请日：2006-02-10
申请人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
发明人： Patrick Helmer , Francois Conti , Patrice Rouiller , Sebastien Grange
IPC分类号： G05G9/047
CPC分类号： B25J17/0266 , Y10S901/15 , Y10T74/20 , Y10T74/20012 , Y10T74/20201 , Y10T74/20305
摘要： A device for transmitting movements comprising a parallel kinematics transmission structure adapted to provide at least one degree of freedom including three translational degrees of freedom, the parallel kinematics transmission structure further comprising a base member (2), a moveable member (4), and at least one parallel kinematics chain (6) coupling the base member (2) and the moveable member (4), each parallel kinematics chain (6) having a first arm (8) moveable in a movement plane wherein the movement planes are at a distance to a symmetry axis (40), and each parallel kinematics chain (6) comprising a second arm (10) coupled to the moveable member (4), wherein a first end (18) of the second arm (10) is adapted to be coupled to the first arm (8) and a second end (16) of the second arm (10) is adapted to be coupled to the moveable member (4).
摘要翻译：一种用于传送运动的装置，包括适于提供包括三个平移自由度的至少一个自由度的平行运动传递结构，所述平行运动传递结构还包括基部构件（2），可移动构件（4）至少一个平行运动链（6），其联接所述基部构件（2）和所述可移动构件（4），每个平行的运动学链（6）具有可在运动平面中移动的第一臂（8），其中所述运动平面处于距离并且每个平行的运动学链（6）包括联接到所述可移动构件（4）的第二臂（10），其中所述第二臂（10）的第一端（18）适于耦合到所述第一臂（8）并且所述第二臂（10）的第二端（16）适于联接到所述可移动构件（4）。

9. 发明申请

US20070171194A1 Workspace expansion controller for human interface systems 失效
标题翻译：人机接口系统的工作区扩展控制器
公开(公告)号：US20070171194A1
公开(公告)日：2007-07-26
申请号：US11645210
申请日：2006-12-22
申请人： Francois Conti , Oussama Khatib
发明人： Francois Conti , Oussama Khatib
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F3/011
摘要： A workspace expansion controller for human interface systems is provided. The controller resolves the physical workspace constraint by relocating the physical workspace of the device mapped inside the environment (virtual or robot) towards the area of interest of the operator without disturbing his or her perception of the environment. The controller is based on the fact that people are greatly influenced by what they perceive visually and often do not notice small deviations in their hand unless that small deviation has a corresponding visual component. With this new control approach the operator can explore much larger workspaces without losing spatial resolution through high scaling factors and thus avoid the drawbacks of indexing common with current approaches.
摘要翻译：提供了一种用于人机接口系统的工作区扩展控制器。控制器通过将在环境（虚拟或机器人）内部映射的设备的物理工作空间重新定位到运营商感兴趣的区域来解决物理工作空间约束，而不会影响他或她对环境的感知。控制器基于这样一个事实，即人们受到他们视觉上感知的影响的很大的影响，并且经常没有注意到他们手中的小偏差，除非那个小偏差具有相应的视觉分量。通过这种新的控制方法，操作员可以探索更大的工作空间，而不会通过高比例因子降低空间分辨率，从而避免与当前方法相同的索引的缺点。

10. 发明申请

US20140192020A1 ACTIVE GRIPPER FOR HAPTIC DEVICES 审中-公开
标题翻译：主动抓斗用于打嗝装置
公开(公告)号：US20140192020A1
公开(公告)日：2014-07-10
申请号：US14153573
申请日：2014-01-13
申请人： Patrick Helmer , Francois Conti , Sebastien Grange , Patrice Rouiller
发明人： Patrick Helmer , Francois Conti , Sebastien Grange , Patrice Rouiller
IPC分类号： G06F3/045
CPC分类号： G06F3/045 , B25J13/02 , B25J17/0266 , G05G1/02 , G05G5/03 , Y10T74/20305 , Y10T74/20396 , Y10T74/20732
摘要： An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.
摘要翻译：用于触觉装置的主动夹持器，包括提供包括三个平移自由度的至少三个自由度的平行运动学结构，其中所述夹持器包括适于由用户的手的第一部分接触的第一接触表面，第二接触表面适于由用户的手的第二部分接触，该手的第二部分可相对于手的第一部分移动;以及可移动构件，其布置在第一接触表面和第二接触表面之间，并且适于主动地相对于彼此移动第一接触表面和第二接触表面。

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