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FR2416094A1 - Dispositif de manipulation a distance - Google Patents

Dispositif de manipulation a distance

Info

Publication number
FR2416094A1
FR2416094A1 FR7802714A FR7802714A FR2416094A1 FR 2416094 A1 FR2416094 A1 FR 2416094A1 FR 7802714 A FR7802714 A FR 7802714A FR 7802714 A FR7802714 A FR 7802714A FR 2416094 A1 FR2416094 A1 FR 2416094A1
Authority
FR
France
Prior art keywords
hand
operator
handling
objects
handling device
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.)
Withdrawn
Application number
FR7802714A
Other languages
English (en)
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to FR7802714A priority Critical patent/FR2416094A1/fr
Priority to US06/005,560 priority patent/US4302138A/en
Priority to GB7903024A priority patent/GB2013617A/en
Publication of FR2416094A1 publication Critical patent/FR2416094A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne les dispositifs de manipulation à distance d'objets. Pour améliorer la prise et la manipulation à distance d'un objet par une << main artificielle >> commandée par la main d'un opérateur, on dispose sur la main artificielle des capteurs de sensations tactiles reliés à des actionneurs recréant sur la main de l'opérateur des sensations tactiles que la main aurait eu en effectuant le palpage ou la manipulation réels de l'objet. L'invention s'applique plus particulièrement à la manipulation d'objets dans un environnement dangereux (industrie nucléaire, industrie chimique, etc.) ou hors de portée de la main de l'opérateur (manipulations sous-marines ou dans l'espace etc).
FR7802714A 1978-02-01 1978-02-01 Dispositif de manipulation a distance Withdrawn FR2416094A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR7802714A FR2416094A1 (fr) 1978-02-01 1978-02-01 Dispositif de manipulation a distance
US06/005,560 US4302138A (en) 1978-02-01 1979-01-22 Remote handling devices
GB7903024A GB2013617A (en) 1978-02-01 1979-01-29 Remote handling device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7802714A FR2416094A1 (fr) 1978-02-01 1978-02-01 Dispositif de manipulation a distance

Publications (1)

Publication Number Publication Date
FR2416094A1 true FR2416094A1 (fr) 1979-08-31

Family

ID=9204042

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7802714A Withdrawn FR2416094A1 (fr) 1978-02-01 1978-02-01 Dispositif de manipulation a distance

Country Status (3)

Country Link
US (1) US4302138A (fr)
FR (1) FR2416094A1 (fr)
GB (1) GB2013617A (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2520279A1 (fr) * 1982-01-28 1983-07-29 Commissariat Energie Atomique Dispositif de prehension a mesure d'effort a structure articulee possedant plusieurs degres de liberte intercalee entre la plaque de contact et son support
EP0086669A3 (en) * 1982-02-16 1985-11-21 Inoue-Japax Research Incorporated A robot
US5599151A (en) * 1993-03-04 1997-02-04 Daum Gmbh Surgical manipulator
US6247738B1 (en) 1998-01-20 2001-06-19 Daum Gmbh Robot hand

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EP0076135A3 (fr) * 1981-09-28 1984-05-09 Hitachi, Ltd. Appareil manipulateur d'objets
JPS5898186U (ja) * 1981-12-23 1983-07-04 株式会社小松製作所 メカニカルフインガクランプの操作装置
DE3272952D1 (en) * 1981-12-24 1986-10-02 Hans Richter Mounting robot
US4937444A (en) * 1982-09-29 1990-06-26 Vpl Research, Inc. Optical flex sensor
EP0244497A1 (fr) * 1986-05-06 1987-11-11 Stephen A. Joyce Commande manuelle multidimensionnelle de force-moment de torsion avec rétroaction de force
US4604016A (en) * 1983-08-03 1986-08-05 Joyce Stephen A Multi-dimensional force-torque hand controller having force feedback
US4555953A (en) * 1984-04-16 1985-12-03 Paolo Dario Composite, multifunctional tactile sensor
EP0173234A1 (fr) * 1984-08-24 1986-03-05 The Perkin-Elmer Corporation Tête de préhension pour robot
US4584625A (en) * 1984-09-11 1986-04-22 Kellogg Nelson R Capacitive tactile sensor
JPH067905Y2 (ja) * 1984-10-30 1994-03-02 株式会社明電舎 マニピュレ−タにおける触覚伝達装置
DE8434357U1 (de) * 1984-11-23 1985-04-04 Richter, Hans, 8900 Augsburg Greiferhand bei einem manipulator
JPH0418792Y2 (fr) * 1985-04-25 1992-04-27
JPS61260988A (ja) * 1985-05-14 1986-11-19 工業技術院長 マスタ・スレ−ブ制御指
JPS61265287A (ja) * 1985-05-20 1986-11-25 富士通株式会社 移動体制御装置
JPS6254684A (ja) * 1985-09-03 1987-03-10 工業技術院長 モデル規範型バイラテラル遠隔制御方法
JPS62124886A (ja) * 1985-11-26 1987-06-06 工業技術院長 動的コンプライアンス逆送型バイラテラル遠隔制御装置
JPS62130186A (ja) * 1985-11-28 1987-06-12 工業技術院長 コンプライアンス写像型バイラテラル制御式遠隔操作装置
JPS62199375A (ja) * 1986-02-24 1987-09-03 工業技術院長 マスタスレ−ブハンドシステムの多感覚バイラテラル制御装置
JPS62150088U (fr) * 1986-03-13 1987-09-22
JPS62213975A (ja) * 1986-03-14 1987-09-19 工業技術院長 マスタ・スレ−ブ指マニプレ−タのマスタ側操作器
SU1777207A1 (ru) * 1986-05-19 1992-11-23 Bruss G Univ Im V I Leni Устройство для дистанционной передачи угла поворота вала
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2520279A1 (fr) * 1982-01-28 1983-07-29 Commissariat Energie Atomique Dispositif de prehension a mesure d'effort a structure articulee possedant plusieurs degres de liberte intercalee entre la plaque de contact et son support
EP0085605A1 (fr) * 1982-01-28 1983-08-10 Commissariat à l'Energie Atomique Dispositif de préhension à mesure d'effort à structure articulée possédant plusieurs degrés de liberté intercalée entre la plaque et son support
US4566845A (en) * 1982-01-28 1986-01-28 Commissariat A L'energie Atomique Measured-force gripper device of articulated structure having several degrees of freedom
EP0086669A3 (en) * 1982-02-16 1985-11-21 Inoue-Japax Research Incorporated A robot
US5599151A (en) * 1993-03-04 1997-02-04 Daum Gmbh Surgical manipulator
US5813813A (en) * 1993-03-04 1998-09-29 Daum Gmbh Surgical manipulator
US6247738B1 (en) 1998-01-20 2001-06-19 Daum Gmbh Robot hand

Also Published As

Publication number Publication date
US4302138A (en) 1981-11-24
GB2013617A (en) 1979-08-15

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