Abstract: A passive load balancer (1) having a flexible transmission element (60) connected to a hinged arm (10) and to a resilient element (40), a first flexible transmission element deflector (50), and a second flexible element deflector (51), the second flexible element deflector (51) being connected to the structure (2). An exoskeleton including a passive load balancer.

Abstract: A motorized robot arm joint comprising a first segment (1), a second segment (2) moveably mounted on the first segment and driven by an actuator (8) connected to a control unit (20) and rigidly connected to a mounting (5) that has a first friction element (10) and is mounted on the first segment such that it moves when subjected to a driving force greater than a predetermined threshold and presses the first friction element against a second friction element (12) that is rigidly connected to the second segment. One of the friction elements is wedge-shaped and has a bisecting plane that is substantially parallel to a plane of movement of the second segment such that it can be engaged between two jaws (13.1, 13.2) of the other of the friction elements, the jaws having surfaces arranged so as to make point-by-point contact with the wedge shape.

Abstract: Spherical wheel that can be driven by a motor comprising a first body (1.1) and a second body (1.2) which are substantially hemispherical and are mounted coaxially to one another so as to pivot about a support axle (2), the bodies being separated by an interstice (3) into which there extends a shaft (6), said shaft having an end that is rigidly connected to the support axle and an opposite end that is connected to a drive motor, characterized in that at least one element (7, 17) extending at least one portion of the outer surface of the bodies extends into the interstice. Vehicle comprising a chassis that is supported by such wheels.

Abstract: Spherical wheel that can be driven by a motor comprising a first body (1.1) and a second body (1.2) which are substantially hemispherical and are mounted coaxially to one another so as to pivot about a support axle (2), the bodies being separated by an interstice (3) into which there extends a shaft (6), said shaft having an end that is rigidly connected to the support axle and an opposite end that is connected to a drive motor, characterized in that at least one element (7, 17) extending at least one portion of the outer surface of the bodies extends into the interstice. Vehicle comprising a chassis that is supported by such wheels.

Abstract: An inertial navigation device for fitting to an article that bears intermittently against a surface. The device comprises an inertial unit having at least one inertial sensor, and a mechanical connector structure for connecting the inertial unit to the article. In the device, the connector structure is arranged (1) to provide mechanical coupling between the inertial unit and the article when the article is not bearing against the surface and (2) to provide mechanical decoupling therebetween when the article is bearing against the surface, in such a manner that the inertial unit is substantially stationary relative to the surface when the article is bearing against the surface. A shoe and equipment is provided with such a device.

Abstract: An articulated structure having a tubular inflatable casing that contains a fluid under pressure and that has a central axis along which there are defined at least one fixed-geometry segment and at least one variable-geometry segment, the arm including a deformation mechanism for deforming the variable-geometry segment, the casing and the deformation mechanism arranged so as to generate curvature of the variable-geometry segment in such a manner that the variable-geometry segment conserves a volume that is substantially constant. A robot arm including such a structure.

Abstract: A bistable magnetic holding device, which includes: a nonmagnetic support casing in the form of a channel with a rectangular cross-section; a magnetic core including a base and three legs set perpendicularly to the base, the two outer legs and the base forming a “U”; a permanent magnet in the form of a bar inserted between the base and the middle leg; a coil surrounding the middle leg; a flat movable part; and a return motion and guidance means built into the inside walls of the support so as to allow return motion, toward the upper part of the support casing, of the magnetic core.

Abstract: A motor-driven joint of a robot arm comprising a first segment (1), a second segment (2) movably mounted on the first segment, and a motor-drive device mounted between the segments and connected to a control unit, the motor-drive device comprising an actuator (5) arranged to transmit movement in reversible manner to the second segment relative to the first segment, and blocking means (6, 7, 8, 9; 31) that are interposed between the first segment and the second segment and that are controllable to make the transmission of movement temporarily non-reversible, the joint being characterized in that the motor-drive device includes an actuating element mechanically connected to a portion of the blocking means and mounted on one of the segments to be movable, under the effect of a driving force greater than a predetermined threshold, to actuate the blocking means.

Abstract: An inertial navigation device for fitting to an article that bears intermittently against a surface, the device comprising an inertial unit having at least one inertial sensor, and mechanical connection means connecting the inertial unit to the article, wherein the connection means are arranged to provide mechanical coupling between the inertial unit and the article when the article is not bearing against the surface and to provide mechanical decoupling therebetween when the article is bearing against the surface, in such a manner that the inertial unit is substantially stationary relative to the surface when the article is bearing against the surface. A shoe and equipment provided with such a device.

Abstract: A bistable magnetic holding device, which includes: a nonmagnetic support casing in the form of a channel with a rectangular cross-section; a magnetic core including a base and three legs set perpendicularly to the base, the two outer legs and the base forming a “U”; a permanent magnet in the form of a bar inserted between the base and the middle leg; a coil surrounding the middle leg; a flat movable part; and a return motion and guidance means built into the inside walls of the support so as to allow return motion, toward the upper part of the support casing, of the magnetic core.

Abstract: The haptic interface comprises a base (2), a platform (24) at a distance from the base (2), at least two cables (32) each with a first end fixed to the platform and a second end connected to a puller actuator (36) designed to apply tension on the cable (32). Thrust means are mounted on the base (2) by means of an articulation (50). They comprise a thrust rod (40) with a first end in contact with the platform (24) and a second end connected to a pusher actuator that pushes the thrust rod (40) towards the platform (24). The actuators (36, 44) apply forces to the platform representative of information about a system. The platform comprises a control device.

Abstract: A link with a transmission cable (14) between a driving pulley (15) and a driven pulley (22) causing a mobile unit (5) to rotate, has two strands (23, 24) connecting the driven pulley (22) with idle pulleys (17, 18) which are substantially aligned with an axis (Y) of rotation of an part (2) intermediate to the unit (5) and to the base (1) on which the motor (12) is secured. Thus, the motor (12) is positioned on optionally fixed parts and rotation of the support (2) has only very little effect on the tension of the cable (14), so that it may always work properly. The invention is especially applied to articulated robot arms.

Abstract: The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12 to 16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.

Abstract: The master arm includes two parallel branches (1, 2), preferably symmetric, joining together at a control wrist (7). The branches are formed of segments (3, 4, 5, 6), the first (3) of which extend from a common base (8), and moving away from the base such that the branches move apart from each other and prevent the appearance of kinetic singularities.

Abstract: An element (10) comprises sealed cavities (24) arranged according to a regular pattern. Each cavity (24) contains a product such as a wax which changes in volume, in reversible fashion, when a given temperature threshold is crossed, together with an individual heating organ (26). The cavities (24) are separated from the front face (10a) of the element by a mobile or deformable organ (38). A separate piloting for each of the heating organs (26) makes it possible to make the relief of the front face (10a) of the element evolve in controlled fashion. Such an element can be used to re-transcribe, in relief, tactile (visually handicapped) or visual information.

Abstract: A link with a transmission cable (14) between a driving pulley (15) and a driven pulley (22) causing a mobile unit (5) to rotate, has two strands (23, 24) connecting the driven pulley (22) with idle pulleys (17, 18) which are substantially aligned with an axis (Y) of rotation of an part (2) intermediate to the unit (5) and to the base (1) on which the motor (12) is secured. Thus, the motor (12) is positioned on optionally fixed parts and rotation of the support (2) has only very little effect on the tension of the cable (14), so that it may always work properly.

Abstract: This master arm comprises a wrist (6) held at a constant global inclination to achieve excellent decoupling of translation controls accomplished by moving segments (3, 4) and rotation controls, accomplished by turning the wrist. The operator's task is facilitated and kinetic singularities are almost entirely eliminated. One special embodiment comprises a wrist holder (5) and a special link (18 to 22) that connects the wrist holder to a fixed base; and moving elements (7, 8, 9) of the wrist (6) have hinge pins meeting at a point (0). Thus, the wrist (6) is balanced in rotation and applies a constant force on the segments (3, 4) of the arm, so that they can easily be balanced by a static feedback means. Therefore, the arm can remain in a stable position even when it is released.

Abstract: An element (10) comprises sealed cavities (24) arranged according to a regular pattern. Each cavity (24) contains a product such as a wax which changes in volume, in reversible fashion, when a given temperature threshold is crossed, together with an individual heating organ (26). The cavities (24) are separated from the front face (10a) of the element by a mobile or deformable organ (38). A separate piloting for each of the heating organs (26) makes it possible to make the relief of the front face (10a) of the element evolve in controlled fashion. Such an element can be used to re-transcribe, in relief, tactile (visually handicapped) or visual information.

Abstract: The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12 to 16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.

Abstract: The master arm comprises two parallel branches (1, 2), preferably symmetric, joining together at a control wrist (7). The branches are formed of segments (3, 4, 5, 6), the first (3) of which extend from a common base (8), and moving away from the base such that the branches move apart from each other and prevent the appearance of kinetic singularities.