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1. 发明授权

US08188843B2 Haptic device gravity compensation 有权
标题翻译：触觉装置重力补偿
公开(公告)号：US08188843B2
公开(公告)日：2012-05-29
申请号：US12306700
申请日：2007-06-26
申请人： Patrick Helmer , François Conti , Sebastian Grange , Patrice Rouiller
发明人： Patrick Helmer , François Conti , Sebastian Grange , Patrice Rouiller
IPC分类号： H04B3/36
CPC分类号： G05G9/047
摘要： A haptic device comprising a base member (4), an end-effector (6), a parallel kinematics structure arranged between the base plate and the end-effector and providing at least three degrees of freedom including at least three translational degrees of freedom in relation to the end-effector, and at least one passive gravity compensation means being adapted to exert forces and/or torques on the parallel kinematics structure for at least partial compensation of gravity related forces and/or torques acting in at least one of the three translational degrees of freedom.
摘要翻译：一种触觉装置，包括基部构件（4），端部执行器（6），平行运动学结构，布置在基板和端部执行器之间并且提供至少三个自由度，包括至少三个平移自由度并且至少一个被动重力补偿装置适于在平行运动学结构上施加力和/或扭矩，用于至少部分地补偿与三个中的至少一个作用的重力相关的力和/或扭矩翻译自由度。

2. 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。

3. 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。

4. 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）。

5. 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）。

6. 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。

7. 发明申请

US20100206121A1 Device for Transmitting Movements and Components Thereof 审中-公开
标题翻译：用于发送运动及其组件的装置
公开(公告)号：US20100206121A1
公开(公告)日：2010-08-19
申请号：US11815918
申请日：2006-02-10
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： G05G1/04 , G05G1/00 , F16H21/46
CPC分类号： G06F3/016 , Y10T74/20 , Y10T74/20396
摘要： A transmission member for a device for transmitting movements comprising an actuator for providing movements to be transmitted and a base member, the transmission member comprising a first arm adapted to be coupled to the base member and comprising a base portion and a curved portion, and at least one engagement means for engagement with the actuator of the device for transmitting movements from the actuator to the transmission member.
摘要翻译：一种用于传送运动的装置的传动构件，包括用于提供要传递的运动的致动器和基座构件，所述传动构件包括适于联接到所述基座构件并包括基部和弯曲部分的第一臂，至少一个接合装置，用于与所述装置的致动器接合，用于将致动器的运动传递到所述传动构件。

8. 发明申请

US20100019890A1 Haptic Device Gravity Compensation 有权
标题翻译：触觉装置重力补偿
公开(公告)号：US20100019890A1
公开(公告)日：2010-01-28
申请号：US12306700
申请日：2007-06-26
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： H04B3/36
CPC分类号： G05G9/047
摘要： A haptic device comprising a base member (4), an end-effector (6), a parallel kinematics structure arranged between the base plate and the end-effector and providing at least three degrees of freedom including at least three translational degrees of freedom in relation to the end-effector, and at least one passive gravity compensation means being adapted to exert forces and/or torques on the parallel kinematics structure for at least partial compensation of gravity related forces and/or torques acting in at least one of the three translational degrees of freedom.
摘要翻译：一种触觉装置，包括基部构件（4），端部执行器（6），平行运动学结构，布置在基板和端部执行器之间并且提供至少三个自由度，包括至少三个平移自由度并且至少一个被动重力补偿装置适于在平行运动学结构上施加力和/或扭矩，用于至少部分地补偿与三个中的至少一个作用的重力相关的力和/或扭矩翻译自由度。

9. 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.

10. 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。

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