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1. 发明申请

WO2005015336A1 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：用于发送具有提供自由的三个转换程度的并行动力传动结构的运动的装置
公开(公告)号：WO2005015336A1
公开(公告)日：2005-02-17
申请号：PCT/EP2004/007588
申请日：2004-07-09
申请人： FORCE DIMENSION S.A.R.L , CONTI, François , GRANGE, Sébastien , ROUILLER, Patrice , HELMER, Patrick
发明人： CONTI, François , GRANGE, Sébastien , ROUILLER, Patrice , HELMER, Patrick
IPC分类号： G05G9/047
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，将基座构件联接到可移动构件，每个链包括枢转控制臂（10），其中至少一个旋转致动器（30）的旋转运动被传送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

WO2008003417A1 HAPTIC DEVICE GRAVITY COMPENSATION 审中-公开
公开(公告)号：WO2008003417A1
公开(公告)日：2008-01-10
申请号：PCT/EP2007/005656
申请日：2007-06-26
申请人： FORCE DIMENSION S.A.R.L. , HELMER, Patrick , CONTI, François , GRANGE, Sebastien , ROUILLER, Patrice
发明人： HELMER, Patrick , CONTI, François , GRANGE, Sebastien , ROUILLER, Patrice
IPC分类号： G05G9/047
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），末端执行器（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。

3. 发明申请

WO2009049654A1 DEVICE FOR MOVEMENT BETWEEN AN INPUT MEMBER AND AN OUTPUT MEMBER 审中-公开
标题翻译：输入会员和输出会员之间的移动设备
公开(公告)号：WO2009049654A1
公开(公告)日：2009-04-23
申请号：PCT/EP2007/009143
申请日：2007-10-22
申请人： FORCE DIMENSION S.A.R.L. , HELMER, Patrick
发明人： HELMER, Patrick
IPC分类号： B25J9/10 , B25J17/02
CPC分类号： B25J9/106 , B25J9/0072 , B25J9/1065 , B25J17/0266 , Y10T74/20
摘要： A device for the relative movement between an input member and an output member, the device comprising an input member (100); an output member (108); an intermediate member (104) coupling the input member (100) and the output member (108); a first kinematics bond (102) coupling the intermediate member (104) and the input member (100); the first kinematics bond (102) providing at least two rotational degrees of freedom; and a second kinematics bond (106) coupling the intermediate member (104) and the output member (108), the second kinematics bond (106) being adapted to transmit rotational motions between the intermediate member (104) and the output member (108) and to offset rotation axes of at least two rotational degrees of freedom of the output member (108).
摘要翻译：一种用于输入构件和输出构件之间的相对运动的装置，所述装置包括输入构件（100）; 输出构件（108）; 耦合所述输入构件（100）和所述输出构件（108）的中间构件（104）; 联接中间构件（104）和输入构件（100）的第一运动学接合（102）; 提供至少两个旋转自由度的第一运动学键（102）以及联接所述中间构件（104）和所述输出构件（108）的第二运动学结合件（106），所述第二运动学结合件适于在所述中间构件（104）和所述输出构件（108）之间传递旋转运动，并且偏移输出构件（108）的至少两个旋转自由度的旋转轴线。

4. 发明申请

WO2008003416A1 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：WO2008003416A1
公开(公告)日：2008-01-10
申请号：PCT/EP2007/005655
申请日：2007-06-26
申请人： FORCE DIMENSIONS S.A.R.L. , HELMER, Patrick , CONTI, François , GRANGE, Sebastien , ROUILLER, Patrice
发明人： HELMER, Patrick , CONTI, François , GRANGE, Sebastien , ROUILLER, Patrice
IPC分类号： G05G1/02 , B25J13/02 , G05G5/03
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 (114) being adapted for contact by a first portion of a hand of a user, a second contact (112) 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 (118) arranged between the first contact surface (114) 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第一接触表面（114），所述第一接触表面适于由手的第一部分接触用户，第二接触（112）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（118），其布置在第一接触表面（114）和第二接触表面，并且适于相对于彼此主动地移动第一接触表面和第二接触表面。

5. 发明申请

WO2006084743A1 DEVICE FOR TRANSMITTING MOVEMENTS AND COMPONENTS THEREOF 审中-公开
标题翻译：发送动作及其组件的设备
公开(公告)号：WO2006084743A1
公开(公告)日：2006-08-17
申请号：PCT/EP2006/001244
申请日：2006-02-10
申请人： FORCE DIMENSION S.A.R.L , HELMER, Patrick , CONTI, François , GRANGE, Sébastien , ROUILLER, Patrice
发明人： HELMER, Patrick , CONTI, François , GRANGE, Sébastien , ROUILLER, Patrice
IPC分类号： G06F3/08
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。

6. 发明申请

WO2008052581A1 PARALLEL KINEMATIC STRUCTURE 审中-公开
标题翻译：并行动力学结构
公开(公告)号：WO2008052581A1
公开(公告)日：2008-05-08
申请号：PCT/EP2006/010470
申请日：2006-10-31
申请人： FORCE DIMENSION S.A.R.L. , BAUR SA , HELMER, Patrick , BAUR, Charles, Jr. , WEIBEL, Marc
发明人： HELMER, Patrick , BAUR, Charles, Jr. , WEIBEL, Marc
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0015 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A parallel kinematic structure comprises at least two kinematic chains (10) being functionally arranged in parallel. Each of the two kinematic chains has, at a movable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement (14) having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section (24) and an output section. At least one of the kinematic chains comprises a planar joint arrangement (12) having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section (22). Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section (24) of the anti-planar joint arrangement (14) and the output section (22) of the respective planar joint arrangement (12) are coupled. The parallel kinematic structure further comprises a movable end-effector (6) section coupled with the output sections of the anti-planar joint arrangements.
摘要翻译：平行运动学结构包括在功能上并行布置的至少两个运动链（10）。两个运动链中的每一个在其可移动端处具有至少一个自由度，并且包括具有平移自由度和两个旋转自由度的被动抗平坦接头装置（14）。每个反平面接合装置具有输入部分（24）和输出部分。运动链中的至少一个包括具有至少一个平移自由度和旋转自由度中的至少一个的平面接合装置（12），所述平面接头装置具有输出部分（22）。此外，平面接头装置适于其至少一个自由度的主动运动。反平面接头装置（14）的输入部分（24）和相应的平面接头装置（12）的输出部分（22）相连。平行运动学结构还包括与反平面接合装置的输出部分联接的可移动的末端执行器（6）部分。

7. 发明申请

WO2006084744A2 DEVICE FOR TRANSMITTING MOVEMENTS AND COMPONENTS THEREOF 审中-公开
标题翻译：发送动作及其组件的设备
公开(公告)号：WO2006084744A2
公开(公告)日：2006-08-17
申请号：PCT/EP2006/001245
申请日：2006-02-10
申请人： FORCE DIMENSION S.A.R.L. , HELMER, Patrick , CONTI, François , GRANGE, Sébastien , ROUILLER, Patrice
发明人： HELMER, Patrick , CONTI, François , GRANGE, Sébastien , ROUILLER, Patrice
IPC分类号： B25J17/02 , 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 providing at least one degree of freedom with respect to a symmetry axis, the parallel kinematics transmission structure comprising a base member, a moveable member, and at least one parallel kinematics chain coupling the base member and the moveable member, each parallel kinematics chain having a first arm moveable in a movement plane wherein the movement planes are at a distance to a symmetry axis.
摘要翻译：一种用于传送运动的装置，包括相对于对称轴提供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包括基部构件，可移动构件和至少一个平行运动链，所述平行运动链将所述基座构件以及所述可移动构件，每个平行的运动链具有在运动平面中可移动的第一臂，其中所述运动平面处于与对称轴线的距离。

8. 发明申请

WO2006062892A3 LOW PROFILE INSTRUMENT IMMOBILIZER 审中-公开
标题翻译：低剖面仪器固定器
公开(公告)号：WO2006062892A3
公开(公告)日：2009-04-16
申请号：PCT/US2005043913
申请日：2005-12-06
申请人： IMAGE GUIDED NEUROLOGICS INC , SKAKOON JAMES G , SOLAR MATTHEW S , MILLER THOMAS I , HELMER PATRICK R , FREAS MARK STEPHEN
发明人： SKAKOON JAMES G , SOLAR MATTHEW S , MILLER THOMAS I , HELMER PATRICK R , FREAS MARK STEPHEN
IPC分类号： A61B19/00
CPC分类号： A61M25/02 , A61B5/6864 , A61B17/3415 , A61B17/3423 , A61B90/11 , A61B90/50 , A61B2017/347 , A61B2090/103 , A61N1/0536 , A61N1/0539
摘要： This document discusses, among other things, examples of a low profile instrument immobilizer and means for positioning the same. In one example, the low profile instrument immobilizer grasps, secures, and immobilizes an electrode or other instrument that extends through a burr hole in a skull to a target location in a patient's brain.
摘要翻译：本文件尤其讨论了一种低调仪器防盗器的示例和用于定位它的装置。在一个示例中，低调仪器固定器抓住，固定和固定延伸穿过颅骨中的钻孔的电极或其它器械到患者大脑中的目标位置。

9. 发明申请

WO2008003416A8 ACTIVE GRIPPER FOR HAPTIC DEVICES 审中-公开
标题翻译：用于有机设备的活性夹钳
公开(公告)号：WO2008003416A8
公开(公告)日：2008-03-06
申请号：PCT/EP2007005655
申请日：2007-06-26
申请人： FORCE DIMENSION S A R L , HELMER PATRICK , CONTI FRANCOIS , GRANGE SEBASTIEN , ROUILLER PATRICE
发明人： HELMER PATRICK , CONTI FRANCOIS , GRANGE SEBASTIEN , ROUILLER PATRICE
IPC分类号： G05G1/02 , B25J13/02 , G05G5/03
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 (114) being adapted for contact by a first portion of a hand of a user, a second contact (112) 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 (118) arranged between the first contact surface (114) 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：一种用于触觉装置的主动式夹持器，所述主动式夹持器包括提供至少三个自由度的平行运动学结构，所述平行运动学结构包括三个平移自由度，其中所述夹持器包括第一接触表面（114），所述第一接触表面适于由第一接触表面所述第二接触表面适于由所述用户的手的第二部分接触，所述第二部分相对于所述手的第一部分是可移动的;以及可移动构件（118）第一接触表面（114）和第二接触表面并且适于主动地使第一接触表面和第二接触表面相对于彼此移动。

10. 发明申请

WO2006084744A3 DEVICE FOR TRANSMITTING MOVEMENTS COMPRISING A PARALLEL KINEMATIC STRUCTURE 审中-公开
标题翻译：用于发送包含并行动力结构的动作的装置
公开(公告)号：WO2006084744A3
公开(公告)日：2006-10-26
申请号：PCT/EP2006001245
申请日：2006-02-10
申请人： FORCE DIMENSION S A R L , HELMER PATRICK , CONTI FRANCOIS , GRANGE SEBASTIEN , ROUILLER PATRICE
发明人： HELMER PATRICK , CONTI FRANCOIS , GRANGE SEBASTIEN , ROUILLER PATRICE
IPC分类号： B25J17/02 , 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）。

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