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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Publication number: 20160121491Abstract: 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: ApplicationFiled: October 25, 2013Publication date: May 5, 2016Applicants: Universite Laval, GM Global Technology Operations LLCInventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson
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Patent number: 9308645Abstract: A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.Type: GrantFiled: March 7, 2013Date of Patent: April 12, 2016Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Alexandre Lecours, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Patent number: 9266440Abstract: A robotic charging station for charging a battery of an electric vehicle includes a base plate, a riser coupled with the base plate and extending substantially transverse to the base plate, and a robotic arm. The robotic arm extends from the riser and supports an end effector. The end effector includes a plurality of electrical contacts configured to couple with a receptacle disposed on the electric vehicle. The robotic arm is configured to move the end effector in three degrees of motion.Type: GrantFiled: May 31, 2012Date of Patent: February 23, 2016Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Dalong Gao, Neil David McKay, Matthew J Reiland, Simon Foucault, Marc-Antoine LaCasse, Thierry Laliberte, Boris Mayer-St-Onge, Alexandre Lecours, Clement Gosselin, David E. Milburn, Linda Y. Harkenrider
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Publication number: 20160039093Abstract: A system for assisting an operator in a manual assembly task includes a base assembly, end-effector, and controller. The base assembly has joint actuators providing three or more degrees of freedom (DOF). The end-effector is in series with the base assembly and has additional joints providing one or more additional DOFs. The base assembly and end-effector support a task load, including a weight and/or a reaction torque of an object. Sensors measure joint positions. The controller receives the measured positions, controls the joint actuators to support the task load, and extends a range of motion of the object. A method includes receiving the position signals as the operator manipulates the object, generating an output signal using the measured positions, and transmitting the output signal to the joint actuators to control the joint actuators, support the task load, and extending a range of motion of the object.Type: ApplicationFiled: July 28, 2015Publication date: February 11, 2016Applicants: UNIVERSITE LAVAL, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Muhammad E. Abdallah, Dalong Gao, Clement Gosselin, Jacques Hache, Pascal Labrecque, Jianying Shi
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Patent number: 9085308Abstract: A movement system includes a rail, a trolley, and a braking system. The trolley is movably attached to the rail and configured to support the payload. The braking system is operatively attached to the rail. The braking system includes a braking module having a base, operatively attached to the trolley, and a wheel assembly, operatively attached to the base. The wheel assembly has a shaft, a clutch, and a braking wheel. The clutch is rigidly attached to the shaft and configured for rotation with the shaft about the rolling axis. The braking wheel axially surrounds the clutch and is in continuous rolling contact with a surface of the rail. The clutch is configured to selectively allow rotation of the braking wheel relative to the shaft in only one direction of rotation to decelerate movement of the trolley along the rail.Type: GrantFiled: October 31, 2012Date of Patent: July 21, 2015Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Thierry Laliberte, Clement Gosselin, Dalong Gao, Marc-Antoine Lacasse, Roland J. Menassa
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Publication number: 20150114165Abstract: 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: ApplicationFiled: October 25, 2013Publication date: April 30, 2015Applicants: Universite Laval, GM Global Technology Operations LLCInventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson
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Patent number: 8985354Abstract: A movement system includes a bridge crane, a trolley, and a movement device. The movement device includes an attachment portion, a plurality of housings, first and second curved elements, a cable, and a cable angle sensor. The curved elements are pivotally attached to housings and perpendicularly overlap with one another such that a first slot defined in the first curved element is perpendicular to a second slot defined in the second curved element. The first curved element is pivotable about a first axis and the second curved element is configured to pivot about a second axis. The cable extends from the attachment portion and through each of the slots. The cable is pivotable to angularly displace at least one of the curved elements about a respective axis. The cable angle sensor is configured to measure the angular displacement of the at least one of the first and second curved elements.Type: GrantFiled: October 31, 2012Date of Patent: March 24, 2015Assignees: GM Global Technology Operations LLC, Univerersite LavalInventors: Alexandre Lecours, Simon Foucault, Thierry Laliberte, Clement Gosselin, Boris Mayer-St-Onge, Dalong Gao, Roland J. Menassa
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Patent number: 8644980Abstract: The cable lift system provides assistance to movement of a flexibly suspended payload actuated by operator input into one or more sensing devices attached to the payload. The sensing device is configured to collect information about the typical push-pull and lift-lower motions of an operator moving the payload horizontally and/or vertically, such that the operator's input to the sensor is intuitive and is provided in a manner which is substantially transparent to the operator. The assist mechanisms included in the system are actuated by a controller processing signals received from the one or more sensing devices on the payload. Movement assistance is provided such that the manual effort required by the operator to overcome the inertia of the payload in a starting or stopping event is substantially relieved, thus minimizing the ergonomic impact of the starting and stopping events on the operator.Type: GrantFiled: November 30, 2009Date of Patent: February 4, 2014Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Dalong Gao, Diana Marie Wegner, Roland J. Menassa, Alexandre Lecours, Clement Gosselin, Thierry Laliberte, Simon Foucault, Vincent Duchaine
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Patent number: 8601897Abstract: 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: November 30, 2009Date of Patent: December 10, 2013Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson
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Publication number: 20130253702Abstract: A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.Type: ApplicationFiled: March 7, 2013Publication date: September 26, 2013Applicants: UNIVERSITE LAVAL, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Alexandre Lecours, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Publication number: 20130076902Abstract: A robotic charging station for charging a battery of an electric vehicle includes a base plate, a riser coupled with the base plate and extending substantially transverse to the base plate, and a robotic arm. The robotic arm extends from the riser and supports an end effector. The end effector includes a plurality of electrical contacts configured to couple with a receptacle disposed on the electric vehicle. The robotic arm is configured to move the end effector in three degrees of motion.Type: ApplicationFiled: May 31, 2012Publication date: March 28, 2013Applicants: Universite Laval, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Dalong Gao, Neil David Mc Kay, Matthew J. Reiland, Simon Foucault, Marc-Antoine Lacasse, Thierry Laliberte, Boris Mayer-St-Onge, Alexandre Lecours, Clement Gosselin, David E. Milburn, Linda Y. Harkenrider
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Patent number: 8392023Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.Type: GrantFiled: November 30, 2009Date of Patent: March 5, 2013Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Vincent Duchaine, Noemie Paradis, Thierry Laliberte, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Patent number: 8181799Abstract: An actuation system includes a bridge crane, a trolley, and an end effector and is configured for moving a payload. A first actuator is operatively connected to the bridge crane. The bridge crane is configured for moving along an X axis in response to the first actuator being actuated. The trolley extends from the bridge crane. A second actuator is operatively connected to the trolley. The trolley is configured for moving along a Y axis in response to the second actuator being actuated. The end effector extends from the trolley and is configured for supporting a payload. A third actuator is operatively connected to the end effector. The end effector is configured for rotating about the Z axis in response to the third actuator being actuated to rotate the end effector. Each actuator is disposed in spaced relationship to the bridge crane, the trolley, and the end effector.Type: GrantFiled: November 30, 2009Date of Patent: May 22, 2012Assignees: GM Global Technology Operations LLC, Universite LavalInventors: Thierry Laliberte, Clement Gosselin, Simon Foucault, Boris Mayer-St-Onge, Dalong Gao, Robert J. Scheuerman
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Patent number: 7992733Abstract: An assist system is configured for moving a mass vertically, along a Z axis. The assist system includes a vertical actuation system, a cable, a plurality of pulleys, an actuator, and a mass. The pulleys are operatively attached to the support structure and an assist device that is movable attached to the support structure. The cable is routed around each of the pulleys and attached to the support structure. One of the pulleys supports the mass. The mass moves vertically in response to the actuator.Type: GrantFiled: November 30, 2009Date of Patent: August 9, 2011Assignee: GM Global Technology Operations LLCInventors: Thierry Laliberte, Clement Gosselin, Simon Foucault, Dalong Gao, Robert J. Scheuerman
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Publication number: 20110129320Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.Type: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Vincent Duchaine, Noemie Paradis, Thierry Laliberte, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Publication number: 20110127230Abstract: An assist system is configured for moving a mass vertically, along a Z axis. The assist system includes a vertical actuation system, a cable, a plurality of pulleys, an actuator, and a mass. The pulleys are operatively attached to the support structure and an assist device that is movable attached to the support structure. The cable is routed around each of the pulleys and attached to the support structure. One of the pulleys supports the mass. The mass moves vertically in response to the actuator.Type: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., Universite LavalInventors: Thierry Laliberte, Clement Gosselin, Simon Foucault, Dalong Gao, Robert J. Scheuerman
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Publication number: 20110126660Abstract: 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: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., Universite LavalInventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson
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Publication number: 20110130862Abstract: The cable lift system provides assistance to movement of a flexibly suspended payload actuated by operator input into one or more sensing devices attached to the payload. The sensing device is configured to collect information about the typical push-pull and lift-lower motions of an operator moving the payload horizontally and/or vertically, such that the operator's input to the sensor is intuitive and is provided in a manner which is substantially transparent to the operator. The assist mechanisms included in the system are actuated by a controller processing signals received from the one or more sensing devices on the payload. Movement assistance is provided such that the manual effort required by the operator to overcome the inertia of the payload in a starting or stopping event is substantially relieved, thus minimizing the ergonomic impact of the starting and stopping events on the operator.Type: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., Universite LavalInventors: Dalong Gao, Diana Marie Wegner, Roland J. Menassa, Alexandre Lecours, Clement Gosselin, Thierry Laliberte, Simon Foucault, Vincent Duchaine
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Publication number: 20110127229Abstract: An actuation system includes a bridge crane, a trolley, and an end effector and is configured for moving a payload. A first actuator is operatively connected to the bridge crane. The bridge crane is configured for moving along an X axis in response to the first actuator being actuated. The trolley extends from the bridge crane. A second actuator is operatively connected to the trolley. The trolley is configured for moving along a Y axis in response to the second actuator being actuated. The end effector extends from the trolley and is configured for supporting a payload. A third actuator is operatively connected to the end effector. The end effector is configured for rotating about the Z axis in response to the third actuator being actuated to rotate the end effector. Each actuator is disposed in spaced relationship to the bridge crane, the trolley, and the end effector.Type: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Thierry Laliberte, Clement Gosselin, Simon Foucault, Boris Mayer-St-Onge, Dalong Gao, Robert J. Scheuerman
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Publication number: 20080313473Abstract: The present invention relates to a method and a surveillance tool for managing security of mass storage devices. The method and surveillance tool installs a surveillance tool on a computer, and verifies whether there is a mass storage device connected to the computer. Then, the method determines whether the mass storage device is secured with an appropriate encryption tool, and if the mass storage device is not secured with the appropriate encryption tool, the method prevents use of the mass storage device and secures the mass storage device.Type: ApplicationFiled: June 12, 2007Publication date: December 18, 2008Applicant: LES TECHNOLOGIES DELTACRYPTInventors: Luc Provencher, Olivier Fournier, Clement Gosselin, Ann Marie Colizza