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FR3053902B1 - ARTICULATED CHAIN FOR A ROBOTIC PROSTHESIS COMPRISING A FLEXIBLE JUNCTION - Google Patents

ARTICULATED CHAIN FOR A ROBOTIC PROSTHESIS COMPRISING A FLEXIBLE JUNCTION Download PDF

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Publication number
FR3053902B1
FR3053902B1 FR1656673A FR1656673A FR3053902B1 FR 3053902 B1 FR3053902 B1 FR 3053902B1 FR 1656673 A FR1656673 A FR 1656673A FR 1656673 A FR1656673 A FR 1656673A FR 3053902 B1 FR3053902 B1 FR 3053902B1
Authority
FR
France
Prior art keywords
articulated chain
flexible junction
robotic prosthesis
prosthesis
robotic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1656673A
Other languages
French (fr)
Other versions
FR3053902A1 (en
Inventor
Astrid RUBIANO FONSECA
Jose Luis RAMIREZ ARIAS
Laurent Gallimard
Olivier Polit
Nicolas Jouandeau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
De Paris Viii Paris Vincennes, University of
Universite Paris Ouest Nanterre La Defense Paris 10
Original Assignee
De Paris Viii Paris Vincennes, University of
Universite Paris Ouest Nanterre La Defense Paris 10
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by De Paris Viii Paris Vincennes, University of, Universite Paris Ouest Nanterre La Defense Paris 10 filed Critical De Paris Viii Paris Vincennes, University of
Priority to FR1656673A priority Critical patent/FR3053902B1/en
Publication of FR3053902A1 publication Critical patent/FR3053902A1/en
Application granted granted Critical
Publication of FR3053902B1 publication Critical patent/FR3053902B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne une chaîne articulée (1), formant notamment tout ou partie d'un doigt ou d'un bras ou d'une patte ou d'un manipulateur, ladite chaîne articulée (1) comprenant un premier membre (10), un deuxième membre (20) et une jonction souple (30), le premier membre (10) et le deuxième membre (20) étant chacun fixés à la jonction souple (30) qui est réalisée dans un matériau présentant une dureté Shore A comprise entre 0 et 50.The invention relates to an articulated chain (1), in particular forming all or part of a finger or an arm or a leg or a manipulator, said articulated chain (1) comprising a first member (10), a second member (20) and a flexible junction (30), the first member (10) and the second member (20) each being fixed to the flexible junction (30) which is made of a material having a Shore A hardness of between 0 and 50.

FR1656673A 2016-07-12 2016-07-12 ARTICULATED CHAIN FOR A ROBOTIC PROSTHESIS COMPRISING A FLEXIBLE JUNCTION Active FR3053902B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1656673A FR3053902B1 (en) 2016-07-12 2016-07-12 ARTICULATED CHAIN FOR A ROBOTIC PROSTHESIS COMPRISING A FLEXIBLE JUNCTION

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1656673A FR3053902B1 (en) 2016-07-12 2016-07-12 ARTICULATED CHAIN FOR A ROBOTIC PROSTHESIS COMPRISING A FLEXIBLE JUNCTION
FR1656673 2016-07-12

Publications (2)

Publication Number Publication Date
FR3053902A1 FR3053902A1 (en) 2018-01-19
FR3053902B1 true FR3053902B1 (en) 2020-01-24

Family

ID=57209537

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1656673A Active FR3053902B1 (en) 2016-07-12 2016-07-12 ARTICULATED CHAIN FOR A ROBOTIC PROSTHESIS COMPRISING A FLEXIBLE JUNCTION

Country Status (1)

Country Link
FR (1) FR3053902B1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8991885B2 (en) * 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
FR3016543A1 (en) * 2014-01-22 2015-07-24 Aldebaran Robotics HAND INTENDED TO EQUIP A HUMANIDE ROBOT WITH IMPROVED FINGERS
US9505134B2 (en) * 2014-04-21 2016-11-29 GM Global Technology Operations LLC Lower robotic arm assembly having a plurality of tendon driven digits

Also Published As

Publication number Publication date
FR3053902A1 (en) 2018-01-19

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