Abstract: A control method for controlling an actuator (11) connected to a load (50) for handling, the method comprising the steps of: detecting an intention to handle the load (50); applying an increasing command to the actuator (11) until detecting a movement of the actuator (11); storing the value reached by the command when a movement of the actuator (11) is detected; using the stored value reached by the command to determine an estimate of the opposing force exerted by the load (50) for handling; and controlling the actuator by means of a force servocontrol relationship using the estimate of the opposing force exerted by the load (50) for handling in order to establish the commands to be applied to the actuator (11). A cobot (1) arranged to perform the method.

Abstract: A lower limb (1) of an ambulatory exoskeleton comprising at least a pelvis segment (10). a leg segment (20) and a foot segment (30), the leg segment (20) being hinged at the First end (21) of same to the pelvis segment (10) and at the second end (24) of same to the foot segment (30). the leg segment (20) comprising a spring element (25) and means (40. 44) for varying the distance (d) separating the ends (21. 24) of the leg segment (20), the means (40. 44) for varying the distance (d) separating the ends (21. 24) of the leg segment (20) being carried by the pelvis segment (10).

Abstract: A method for controlling an ambulatory exoskeleton (1) linked to a user (100), comprising the following steps: —measuring only the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) under each foot (123, 133) of the user (1); —controlling actuators (40, 41, 42, 43) such that the vertical component (ZEd, ZEg) of the resultant of the balancing forces (REg, REd) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) measured under the corresponding foot (123, 133) of the user (100).

Abstract: A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals. A handling glove (40) and handling device implementing the method.

Abstract: A control method for controlling an actuator (11) connected to a load (50) for handling, the method comprising the steps of: detecting an intention to handle the load (50); applying an increasing command to the actuator (11) until detecting a movement of the actuator (11); storing the value reached by the command when a movement of the actuator (11) is detected; using the stored value reached by the command to determine an estimate of the opposing force exerted by the load (50) for handling; and controlling the actuator by means of a force servocontrol relationship using the estimate of the opposing force exerted by the load (50) for handling in order to establish the commands to be applied to the actuator (11). A cobot (1) arranged to perform the method.

Abstract: A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals A handling glove (40) and handling device implementing the method.

Abstract: A lower limb (1) of an ambulatory exoskeleton comprising at least a pelvis segment (10). a leg segment (20) and a foot segment (30), the leg segment (20) being hinged at the First end (21) of same to the pelvis segment (10) and at the second end (24) of same to the foot segment (30). the leg segment (20) comprising a spring element (25) and means (40. 44) for varying the distance (d) separating the ends (21. 24) of the leg segment (20), the means (40. 44) for varying the distance (d) separating the ends (21. 24) of the leg segment (20) being carried by the pelvis segment (10).

Abstract: A method for controlling an ambulatory exoskeleton (1) linked to a user (100), comprising the following steps: —measuring only the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) under each foot (123, 133) of the user (1); —controlling actuators (40, 41, 42, 43) such that the vertical component (ZEd, ZEg) of the resultant of the balancing forces (REg, REd) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (ZNg, ZNd) of the pressure (Rd, Rg) measured under the corresponding foot (123, 133) of the user (100).

Abstract: A method for assisting in the control of a collaborative robot is provided, comprising a grasping member capable of holding a part at a grasping point, by an operator acting on control means disposed on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance, corresponding to a plurality of predetermined characteristic movements of the grasping member, comprises at least: a first step of detecting the intention of the operator determining the intention of the operator to execute a predetermined type of assistance from an analysis of haptic data of the operator; and a second step of determining the commands that the robot must execute as a function of the detected intention in order to provide the appropriate assistance.

Abstract: A control method for the control of a robot by an operator, using control means which may be positioned at will at different locations of an item to be manipulated, comprises at least a step of determining the position and attitude of the control means on the basis of measurements of forces applied to the control means, defining a first force torsor, and on the basis of corresponding forces, at the gripping member of the robot for example, a step of determining force or force/position control setpoints for the robot on the basis of, at least, measurements of forces on the control means applied to move the item, and of the position and attitude determined during the determination step, and a control step in which the determined setpoints are sent to the robot. A control system employing such a method is also provided.

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.

Abstract: A method for assisting in the control of a collaborative robot is provided, comprising a grasping member capable of holding a part at a grasping point, by an operator acting on control means disposed on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance, corresponding to a plurality of predetermined characteristic movements of the grasping member, comprises at least: a first step of detecting the intention of the operator determining the intention of the operator to execute a predetermined type of assistance from an analysis of haptic data of the operator; and a second step of determining the commands that the robot must execute as a function of the detected intention in order to provide the appropriate assistance.

Abstract: A control method for the control of a robot by an operator, using control means which may be positioned at will at different locations of an item to be manipulated, comprises at least a step of determining the position and attitude of the control means on the basis of measurements of forces applied to the control means, defining a first force torsor, and on the basis of corresponding forces, at the gripping member of the robot for example, a step of determining force or force/position control setpoints for the robot on the basis of, at least, measurements of forces on the control means applied to move the item, and of the position and attitude determined during the determination step, and a control step in which the determined setpoints are sent to the robot. A control system employing such a method is also provided.

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.