Patents by Inventor Clément Gosselin
Clément Gosselin has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11945111Abstract: A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.Type: GrantFiled: February 28, 2020Date of Patent: April 2, 2024Assignee: UNIVERSITÉ LAVALInventors: Clément Gosselin, Kefei Wen, David Harton, Thierry Laliberte
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Publication number: 20230033693Abstract: A mechanical finger has a base. A proximal phalanx and a distal phalanx is provided with a first epicyclic joint between the base and proximal phalanx, and a second epicyclic joint between the proximal phalanx and the distal phalanx. A distal four-bar mechanism includes the proximal phalanx, the distal four-bar mechanism coupled to the distal phalanx. A nail is optionally provided and has a joint mechanism movably connecting the nail to the distal most one of the phalanges between a stowed position in which a grasping tip of the nail is concealed in the distal most one of the phalanges, and a deployed configuration in which the grasping tip projects out of the distal most one of the phalanges.Type: ApplicationFiled: January 22, 2021Publication date: February 2, 2023Inventors: Vincent BABIN, Clément GOSSELIN, Thierry LALIBERTE
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Publication number: 20220143816Abstract: A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.Type: ApplicationFiled: February 28, 2020Publication date: May 12, 2022Inventors: Clément GOSSELIN, Kefei WEN, David HARTON, Thierry LALIBERTE
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Patent number: 11318585Abstract: An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.Type: GrantFiled: April 6, 2020Date of Patent: May 3, 2022Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Muhammad E. Abdallah, James W. Wells, Clement Gosselin, Thierry Laliberte, Jerome Landure
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Patent number: 11247332Abstract: A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement.Type: GrantFiled: January 27, 2020Date of Patent: February 15, 2022Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Muhammad E. Abdallah, James W. Wells, Pascal Labrecque, Clement Gosselin, Thierry Laliberte
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Publication number: 20210308839Abstract: An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.Type: ApplicationFiled: April 6, 2020Publication date: October 7, 2021Applicants: GM GLOBAL TECHNOLOGY OPERATIONS LLC, Université LavalInventors: Muhammad E. Abdallah, James W. Wells, Clement Gosselin, Thierry Laliberte, Jerome Landure
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Patent number: 11077547Abstract: A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg each with a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of the sub-legs, and the proximal end of the link. A joint provides two or more rotational DOFs at the distal end of the link and connects the distal end of the link to one end of the parallel mechanism. Joints in the sub-legs provide DOFs to the sub-legs and connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the sub-legs to control movement of the link.Type: GrantFiled: May 8, 2015Date of Patent: August 3, 2021Assignee: UNIVERSITE LAVALInventor: Clement Gosselin
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Publication number: 20210146573Abstract: The invention relates to a system for extruding cementitious material beads for a robot used for the additive manufacturing of architectural structures, comprising: a head for depositing beads of cementitious material, referred to as printhead (30), comprising an inlet mouth (31) and an outlet nozzle (34) configured to form beads of cementitious material; a feed circuit (20) for said printhead (30), comprising a reservoir (10) for storing cementitious material, a feed conduit (21) connecting said storage reservoir (10) to said printhead (30), and a booster pump (22) for said feed conduit (21), characterized in that it further comprises a sensor (33) for sensing the pressure rate of the cementitious material flowing in said printhead (30), and suitable for transmitting pressure/flow rate measurements to said booster pump (22), and in that the booster pump (22) is configured to control the boosting of the feed conduit (21) on the basis of the measurements transmitted by the sensor (33).Type: ApplicationFiled: June 12, 2018Publication date: May 20, 2021Inventors: Philippe ROUX, Alban MALLET, Charles BOUYSSOU, Mahriz AKHAVAN ZAKERI, Laurent BLANCHET, Philippe MOREL, Clement GOSSELIN, Nadja GAUDILLIERE, Romain DUBALLET
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Patent number: 10759634Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.Type: GrantFiled: November 3, 2017Date of Patent: September 1, 2020Assignees: GM Global Technology Operations LLC, Université LavalInventors: Muhammad E. Abdallah, Clement Gosselin, Thierry Laliberte, Simon Foucault, Pascal Labrecque, James W. Wells, Jerome Landure
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Patent number: 10626963Abstract: An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.Type: GrantFiled: October 3, 2016Date of Patent: April 21, 2020Assignees: GM Global Technology Operations LLC, Université LavalInventors: Muhammad E. Abdallah, Clément Gosselin, Thierry Laliberte, Simon Foucault, Pascal Labrecque, James W. Wells
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Patent number: 10350766Abstract: An extended-reach assist device for an assembly task includes a base mechanism and a compliant end-effector. The articulated base mechanism provides one or more passive degrees of freedom. The end-effector is connected to the base mechanism, and has one or more active or passive degrees of freedom collectively configured to react to contact forces with the assist device when completing the dexterous assembly task. A weight of the end-effector is supported by the base mechanism. The end-effector may be optionally configured as a passive device configured to produce a remote center of compliance or as a robot mechanism. A mechanism may actively or passively augment a force applied by the operator. A sensor may detect a signature indicative of successful task completion, e.g., an acoustic, visual, or audio sensor.Type: GrantFiled: July 26, 2016Date of Patent: July 16, 2019Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Muhammad E. Abdallah, Christa Lynn Lauder, Clement Gosselin
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Publication number: 20180219452Abstract: A mechanism comprises a first Halbach cylinder having an inner cavity, the first Halbach cylinder magnetized to produce a first magnetic flux concentrated circumferentially inside the inner cavity. A second Halbach cylinder is concentrically received in the inner cavity of the first Halbach cylinder to concurrently form a rotational joint having a rotational axis. One of the Halbach cylinders is a rotor and the other of the Halbach cylinders is a stator, the second Halbach cylinder magnetized to produce a second magnetic flux concentrated circumferentially outwardly. An output is connected to the rotor to rotate therewith relative to the stator, the output applying a gravity load on the rotor, the gravity load being offset from the rotational axis, whereby the magnetic flux of the first Halbach cylinder and the second Halbach cylinder cooperatively produce a torque against the gravity load caused by the output.Type: ApplicationFiled: July 28, 2016Publication date: August 2, 2018Inventors: Julien BOISCLAIR, Pierre-Luc RICHARD, Thierry LALIBERTE, Clément GOSSELIN
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Publication number: 20180079629Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.Type: ApplicationFiled: November 3, 2017Publication date: March 22, 2018Applicants: GM Global Technology Operations LLC, Université LavalInventors: Muhammad E. Abdallah, Clement Gosselin, Thierry Laliberte, Simon Foucault, Pascal Labrecque, James W. Wells, Jerome Landure
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Patent number: 9850108Abstract: A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.Type: GrantFiled: March 15, 2017Date of Patent: December 26, 2017Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Dalong Gao, Alexandre Lecours, Thierry Laliberte, Simon Foucault, Clement Gosselin, Boris Mayer-St-Onge, Roland J. Menassa, Pierre-Luc Belzile
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Publication number: 20170221376Abstract: A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg, each said sub-leg comprising a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of each of the first sub-leg and the second sub-leg, and the proximal end of the link. A joint provides at least two rotational DOFs at the distal end of the link and is adapted to connect the distal end of the link to one end of the parallel mechanism. Joints in the first sub-leg and the second sub-leg to provide DOFs to the sub-legs and to connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the first sub-leg and the second sub-leg to control movement of the link. A method for controlling movement of the parallel mechanism is also provided.Type: ApplicationFiled: May 8, 2015Publication date: August 3, 2017Applicant: Universite LavalInventor: CLEMENT GOSSELIN
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Publication number: 20170183202Abstract: A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.Type: ApplicationFiled: March 15, 2017Publication date: June 29, 2017Applicants: GM GLOBAL TECHNOLOGY OPERATIONS LLC, Univesite LavalInventors: Dalong Gao, Alexandre Lecours, Thierry Laliberte, Simon Foucault, Clement Gosselin, Boris Mayer-St-Onge, Roland J. Menassa, Pierre-Luc Belzile
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Patent number: 9630815Abstract: A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.Type: GrantFiled: October 31, 2012Date of Patent: April 25, 2017Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Dalong Gao, Alexandre Lecours, Thierry Laliberte, Simon Foucault, Clement Gosselin, Boris Mayer-St-Onge, Roland J. Menassa, Pierre-Luc Belzile
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Publication number: 20170108098Abstract: An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.Type: ApplicationFiled: October 3, 2016Publication date: April 20, 2017Applicants: GM GLOBAL TECHNOLOGY OPERATIONS LLC, Université LavalInventors: Muhammad E. Abdallah, Clément Gosselin, Thierry Laliberte, Simon Foucault, Pascal Labrecque, James W. Wells
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Publication number: 20170080576Abstract: An extended-reach assist device for an assembly task includes a base mechanism and a compliant end-effector. The articulated base mechanism provides one or more passive degrees of freedom. The end-effector is connected to the base mechanism, and has one or more active or passive degrees of freedom collectively configured to react to contact forces with the assist device when completing the dexterous assembly task. A weight of the end-effector is supported by the base mechanism. The end-effector may be optionally configured as a passive device configured to produce a remote center of compliance or as a robot mechanism. A mechanism may actively or passively augment a force applied by the operator. A sensor may detect a signature indicative of successful task completion, e.g., an acoustic, visual, or audio sensor.Type: ApplicationFiled: July 26, 2016Publication date: March 23, 2017Applicants: GM GLOBAL TECHNOLOGY OPERATIONS LLC, Universite LavalInventors: Muhammad E. Abdallah, Christa Lynn Lauder, Clement Gosselin
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Patent number: 9486928Abstract: The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.Type: GrantFiled: October 25, 2013Date of Patent: November 8, 2016Assignee: GM Global Technology Operations LLCInventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson