Remote handling devices

• US 4,302,138 A
• Filed: 01/22/1979
• Issued: 11/24/1981
• Est. Priority Date: 02/01/1978
• Status: Expired due to Term

• Current Assignee: Alain Zarudiansky
• Original Assignee: Alain Zarudiansky
• Inventors: Zarudiansky, Alain
• Primary Examiner(s): Blix, Trygve M.
• Assistant Examiner(s): Siemens, Terrance L.
• Application Number:
  US06/005,560
• Time in Patent Office: 1,037 Days
• Field of Search: 414/1, 414/2, 414/5, 414/6, 414/730, 3/1.1, 3/1.2
• US Class Current: 414/5
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/081 Touching devices, e.g. pressure-sensitive
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves

Abstract

In order to improve the grip and remote handling of an object by an "artificial hand" (or "slave hand") remotely controlled by the hand of an operator, the artificial hand is provided with sensors for sensing tactile parameters. The signals produced by these sensors are applied to actuators associated with a "master hand" in the form of a glove in which the hand of the operator is inserted, and the actuators apply tactile sensations to the hand of the operator. The operator thus apparently "feels" the object, as if handling it directly. The remote handling device of the invention is particularly useful for handling objects in a dangerous environment (in the nuclear or chemical industries for example) or out of the reach of the operator (under water or in space).

Claims

1. A device for remotely handling an object, the device comprising a gripping device formed by a plurality of articulated elements for reproducing, at least in part, the structure of a human hand;

means for receiving the hand of an operator and including position detectors disposed to sense the instantaneous spatial position of the movable parts of the hand of the operator and to produce signals representative thereof; and

a control device for controlling the instantaneous spatial position of said articulated elements in response to the signals produced by said receiving means, the control device being operative to reproduce, for each articulated element of the gripping device, the instantaneous position of the analogous moving part of the hand of the operator, wherein at least one of the said articulated elements is provided with at least one sensor for sensing a tactile parameter, and for providing signals representative thereof, whereby said tactile parameter representative signals are also representative of contacts of said articulated element with the object, and wherein the receiving means comprises actuator means for receiving said tactile parameter representative signals and applying to the hand of the operator sensations representative of said tactile parameter, wherein the actuator means comprises a plurality of actuators, and the receiving means comprises a support for supporting said actuators, and a plurality of members, such as rings or collars, for receiving respective movable parts of the hand of the operator, the actuators being connected between the support and respective ones of said receiving members.

2. A remote handling device according to claim 1, wherein at least one of said position detectors is connected to said support and to one of said receiving members in such a manner as to detect the position of the corresponding movable part of the hand of the operator with respect to the support.

3. A remote handling device according to claim 1, wherein at least one of said position detectors is connected to two of said receiving members in such a manner as to detect the relative positions of the corresponding parts of the hand of the operator.

4. A remote handling device according to claim 3, wherein said at least one position detector comprises an angle detector connected to two adjacent ones of said receiving members to provide a signal representative of the angle formed by the corresponding adjacent movable parts of the hand of the operator.

5. A remote handling device according to claim 4, wherein said angle detector comprises two relatively slidable elements, one of said elements bearing reference marks, and a sensor sensitive to said reference marks mounted on the other element so as to sense their relative positions, each element being connected to a respective one of said adjacent receiving members.

6. A remote handling device according to claim 4, wherein said angle detector comprises a flexible member of which one end is fixed to a first of said adjacent receiving members and the other end slides in an opening provided in the second of said adjacent receiving members, and a sensor for measuring the displacement of the flexible member in said opening.

7. A remote handling device according to claim 4, wherein said angle detector comprises a rod of which the ends are respectively connected to said adjacent receiving members and which comprises at least one flexible central part provided with a sensor sensitive to the curvature of said central part.

8. A remote handling device according to claim 7, wherein said sensor is of the extensimeter type.

9. A remote handling device according to claim 7, wherein said sensor is of the type employing materials sensitive to compression forces.

10. A remote handling device according to claim 4, wherein said angle detector comprises two coils each coupled to a respective one of said adjacent receiving members, and a sensor for sensing changes in the mutual inductance of said coils.

11. A remote handling device according to claim 4, wherein said angle detector comprises a coil connected to one of said adjacent receiving members, a core member disposed in the coil and connected to the other of said adjacent receiving members, and a sensor for sensing changes in the inductance of the coil.

12. A remote handling device according to claim 1, wherein said at least tactile parameter sensor comprise a pressure sensor, comprising two metallic electrodes arranged on opposite sides of a layer of synthetic elastic material having inclusion of electrically conductive substance to form a composite material, the electrical resistance of which is depending on the pressure applied to said composite material, the signals representative of the pressure being the variations of an electric current traversing the composite material between said electrodes.

13. A remote handling device according to claim 1, wherein said at least one tactile parameter sensor comprise a temperature sensor of thermocouple or thermistance type including a first metal plate, a second metal plate and electricity conducting means connecting said first and second plates, said electricity conducting means comprises a layer of synthetic elastic insulating material placed between said plates, a suitable electrically conductive substance being included in said material to provide conduction of electricity between said plates.

14. A remote handling device according to claim 1, wherein said at least tactile parameter sensor comprise at least one pressure sensor and at least one temperature sensor formed in a layer of a synthetic elastic insulating material having certain portion suitably doped with an electricity conductive material, said pressure sensor being formed by two metallic electrodes respectively disposed on both sides of said layer, the doping of the synthetic material placed between said electrodes being such that the electrical resistance thereof is a function of the pressure applied between said electrodes, said temperature sensor being of the thermocouple or thermistance type formed by two different metals deposited respectively on both sides of said layer of synthetic material, the doping of the material between said metals being such that permanent electric contact is provided between said metals.

15. A remote handling device according to claim 1 further comprising data processing means coupled to receive the tactile parameter signals and to apply them to the actuator means, said data processing means also being coupled between said position detectors and said control device, wherein said data processing means comprise means for analysing and recording signals corresponding to sequence of tactile exploration and manipulation of the object by the gripping device under the control of the hand of the operator, and means for automatically effecting sequences of tactile exploration and manipulation of the same object in the absence of the hand of the operator on the basis of the signals recorded during said sequences controlled by the hand of the operator.

16. A device for remotely handling an object, the device comprising:

a gripping device formed of a plurality of articulated elements for reproducing, at least in part, the stucture of a human hand;

means for receiving the hand of an operator and including position detectors disposed to sense the instantaneous spatial position of the movable parts of the hand of the operator and to produce signals representative thereof; and

a control device for controlling the instantaneous spatial portion of said articulated elememts in response to the signals produced by said receiving means, the control device being operative to reproduce, for each articulated element of the gripping device, the instantaneous position of the analogous moving part of the hand of the operator, wherein at least one of said articulated elements is provided with at least one sensor for sensing a tactile parameter, and for providing signals representative thereof, whereby said tactile parameter representative signals are also representative of contacts of said articulated element with the object, and wherein the receiving means comprises actuator means for receiving said tactile parameter representative signals and applying to the hand of the operator sensations representative of said tactile parameter, wherein the actuator means comprises a plurality of actuators, and the receiving means comprises a support for supporting said actuators, and a plurality of members, such as rings and collars, for receiving respective movable parts of the hand of the operator, the actuators being connected between the support and respective ones of said receiving members, wherein said at least one tactile parameter sensor comprises a temperature sensor formed in the thickness of a synthetic elastic insulating material and formed by thermistances or thermocouples comprising a first metal deposited on one of the faces of the elastic material, a second metal deposited on the other face of the elastic material and an electrical conductor connecting these two metals, the conductor being produced by doping the elastic material present in the space between the first and second metal with a suitable electrically conductive substance.