Control member with tensed cables

• US 20050016316A1
• Filed: 12/06/2002
• Published: 01/27/2005
• Est. Priority Date: 12/10/2001
• Status: Active Grant

• Current Assignee: Commissariat a L'Energie Atomique (French Alternative Energies and Atomic Energy Commission)
• Original Assignee: Commissariat a L'Energie Atomique (French Alternative Energies and Atomic Energy Commission)
• Inventors: Gosselin, Florian
• Granted Patent: US 7,698,966 B2
• Time in Patent Office: Days
• US Class Current: 74/501.600
• CPC Class Codes: G05G 2009/04777 with additional push or pull action on the handle
• CPC Class Codes: G05G 9/04796 for rectilinear control along the axis of the controlling member
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: Y10T 74/20335 Wrist
• CPC Class Codes: Y10T 74/2042 and hand operator

Abstract

The control unit includes an arm (21) sliding inside of a sheath (20) the angle of which can be varied and which is supported by three tensed cables (25; 26; 27) arranged in a triangle and unwinding with a certain degree of resistance from force feedback motors (16; 17; 18). The wrist (23) of the control unit can be moved according to at least the three degrees of translational freedom, without having to be afraid of encountering the cables; the control unit is simple, inexpensive and possesses a satisfactory degree of stiffness. A friction-creating means, possibly consisting of another tensed cable and dependant on a motor, is placed between the sheath (20) and the arm (21). This unit can be used for telemanipulation, telesurgery, CAD, games, etc.

Claims

1. Control unit of the type with tensed cables arranged between a base (15) and a movable wrist (23), characterized in that it includes:

a sheath (20) joined to the base by a double joint (19);

three actuating cables (25, 26, 27) between the sheath and the base and connecting to the base at the same number of connecting points surrounding the sheath;

an arm (21) supporting the wrist (23), sliding into the sheath; and

an actuating means (28, 29) between the arm and the sheath.

2. Control unit as claimed in claim 1, characterized in that the actuating means includes a cable (28) stretched between the sheath (20) and the arm (21) and controlled by a motor (29), and in that the three cables stretched between the sheath (20) and the base (15) are controlled by respective motors (16, 17, 18).

3. Control unit as claimed in claim 1, characterized in that the actuating means includes a cable (28) stretched between the arm (21) and the base (32) and controlled by a motor placed on the base, in that the three cables stretched between the sheath and the base are controlled by respective motors, and one of the three cables extends beyond the sheath to a fastening point on the arm.

4. Control unit as claimed in claim 1, characterized in that the three cables (25, 26, 27) are arranged like the edges of a pyramid, and the double joint (19) is surrounded by the connecting points of the cables to the base.

5. Control unit as claimed in claim 1, characterized in that the three cables are substantially coplanar and the double joint (19) is placed at a location of the sheath (20) from which the arm (21) exits.

6. Control unit as claimed in claim 1, characterized in that the double joint is a ball joint.

7. Control unit as claimed in claim 1, characterized in that the arm is capable of being rotated inside the sheath.

8. Composite control unit, characterized in that it includes a pair of units according to any of the preceding claims, the base being common to the units, the arms being joined to a common wrist by ball joints.