Robotic device for assisting handling having a variable force increase ratio

• US 9,162,358 B2
• Filed: 06/29/2011
• Issued: 10/20/2015
• Est. Priority Date: 07/02/2010
• Status: Expired due to Fees

• Current Assignee: Commissariat a L'Energie Atomique (AES Corporation)
• Original Assignee: Commissariat a L'Energie Atomique (AES Corporation)
• Inventors: Geffard, Franck, Lamy, Xavier
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US13/807,871
• Publication Number:
  US 20130110290A1
• Time in Patent Office: 1,574 Days
• Field of Search: 700/258, 700/245, 700/260, 700/264, 700/261
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B66C 23/005 with balanced jib, e.g. pantograph arrangement, the jib being moved manually
• CPC Class Codes: B66D 3/18 Power-operated hoists
• CPC Class Codes: G05B 2219/36429 Power assisted positioning
• CPC Class Codes: G05B 2219/39439 Joystick, handle, lever controls manipulator directly, manually by operator
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A robotic device for providing assistance in manipulation, including a base having a movable segment mounted thereon in association with a motor-drive mechanism connected to a control unit. The segment having an end portion provided with a member for holding an element to be manipulated and a handle for enabling the end portion to be manipulated by an operator. The control unit is connected to a detection mechanism for detecting an external force applied on the end portion and arranged to control the motor-drive mechanism as a function of an amplification factor for amplifying the detected force and servo-control gains. The control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify the amplification factor and the servo-control gains as a function of the detected grip force.

Claims

1. A robotic device for providing assistance in manipulation, the device comprising a base having a movable segment mounted thereon in association with a motor-drive connected to a control unit, the segment having an end portion provided with a member for holding an element that is to be manipulated and a handle mounted on a support attached to said end portion for enabling said end portion to be manipulated by an operator, wherein the control unit is connected to a first force sensor associated to the support for sensing force applied by the operator on said end portion and is arranged to control the motor-drive so as to amplify the force detected by said first force sensor as a function of a determined force amplification factor and of at least one determined servo-control gain;

the control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify at least one of the amplification factor or the servo-control gain as a function of the detected grip force and wherein the control unit is connected to a second force sensor for sensing the force exerted by the element on said end portion and is arranged to verify whether said force exerted by the element on said end portion corresponds to the amplified force.

2. A device according to claim 1, wherein the handle comprises a rod covered in a layer of elastically deformable material, and a pressure-detection film having electrodes and extending between the rod and the deformable material for allowing an electric signal to pass between the electrodes, which signal has a characteristic that depends on the thickness of the deformable layer overlying the electrodes.

3. A device according to claim 1, wherein the amplification factor possesses two values corresponding respectively to a light grip on the handle and to a strong grip.

4. A device according to claim 1, wherein the amplification factor varies between a minimum value and a maximum value as a function of the grip pressure on the handle.

5. A device according to claim 1, wherein the servo-control gain possesses values that correspond respectively to a light grip on the handle and to a strong grip.

6. A device according to claim 1, wherein the servo-control gain varies between a minimum value and a maximum value as a function of the grip pressure on the handle.

7. The device according to claim 1, wherein the first force sensor is physically attached to the support.

8. The device according to claim 7, wherein the first force sensor is located between the handle and the support.