Abstract: A gripper including a frame and a finger including a first distal phalanx and a second proximal phalanx mechanically linked, the second phalanx includes a first bar and a linear actuator arranged so as to form a first four-bar linkage. A gripping device including a plurality of grippers.

Abstract: A resonant sensor includes a proof body that can be subjected to a torque of forces produced by an external mechanical structure, the body comprising at least: a first interface and a second interface that can each come into contact with the structure; at least two sensitive elements each arranged between these two interfaces; a sensitive element comprising a plate embedded in a frame secured mechanically to the interfaces, the frame being fixed to the interfaces by two opposite corners, the other two corners being free, a local increase in weight being produced in each corner; each plate being able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers bearing the plate at several resonant frequencies, sensors picking up the resonant signals produced at the particular points, measurement means measuring the resonant frequency shifts of signals which are linear combinations of the resonant signals picked up, the shifts being a function of mechanica

Abstract: The device includes at least: a bar longitudinally mobile along an axis of symmetry provided at one end with a plate; a first rigid connection and a second rigid connection which are symmetrical about the axis, each ending in a jaw, the two jaws forming a gripper clamp able to pick up an object; two pairs of flexible beams which are symmetrical about the axis, the beams each being connected by one end to one of the rigid connections, the other end being fixed, and guiding the movements of the rigid connections perpendicular to the axis, the ends of a pair of beams forming a parallelogram; two pairs of flexible beams which are symmetrical about the axis, the beams each being connected by one end to one of the rigid connections, the other end being connected to the bar, and guiding the movements of the bar parallel to the axis, the ends of a pair of beams forming a parallelogram.

Abstract: The device includes at least: a bar longitudinally mobile along an axis of symmetry provided at one end with a plate; a first rigid connection and a second rigid connection which are symmetrical about the axis, each ending in a jaw, the two jaws forming a gripper clamp able to pick up an object; two pairs of flexible beams which are symmetrical about the axis, the beams each being connected by one end to one of the rigid connections, the other end being fixed, and guiding the movements of the rigid connections perpendicular to the axis, the ends of a pair of beams forming a parallelogram; two pairs of flexible beams which are symmetrical about the axis the beams each being connected by one end to one of the rigid connections, the other end being connected to the bar, and guiding the movements of the bar parallel to the axis, the ends of a pair of beams forming a parallelogram.

Abstract: The device able to guide a member in translational movement, includes two pairs of flexible beams which are symmetric about an axis, the two beams of one pair being curved and not mutually parallel; a central mechanical structure through which the axis passes and to which the pairs of beams are attached at fixing points, the mechanical structure being able to be mechanically connected to the member; two mechanical interfaces to each of which a pair of beams is attached at fixing points, the interfaces being able to be attached to a mechanical structure; the two sets of attachment points situated on either side of the axis of symmetry each forming a parallelogram, the guidance of the member being obtained by means of a force exerted on the central mechanical structure parallel to the axis of symmetry.

Abstract: A method of detecting collision between a robot and its environment comprises: generating, on the basis of a dynamic model of the robot, a signal representative of the collisions between the robot and environment, the signal being a residual r; carrying out an adaptive high-pass filtering of the residual r; determining, in a recursive manner, an adaptive threshold T composed of at least one first dynamic term T?1 equal to an item of information regarding the parametric uncertainties between the model and real behavior of the robot, the parametric uncertainties being related to a first variable characteristic of the state of the robot among the following variables: position, velocity or acceleration of an articulation of the robot, or a linear or nonlinear function of one of these variables or of a combination; comparing the filtered residual with the adaptive threshold T to deduce the existence or otherwise of a collision.

Abstract: A resonant sensor includes a proof body that can be subjected to a torque of forces produced by an external mechanical structure, the body comprising at least: a first interface and a second interface that can each come into contact with the structure; at least two sensitive elements each arranged between these two interfaces; a sensitive element comprising a plate embedded in a frame secured mechanically to the interfaces, the frame being fixed to the interfaces by two opposite corners, the other two corners being free, a local increase in weight being produced in each corner; each plate being able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers bearing the plate at several resonant frequencies, sensors picking up the resonant signals produced at the particular points, measurement means measuring the resonant frequency shifts of signals which are linear combinations of the resonant signals picked up, the shifts being a function of mechanica

Abstract: A resonant sensor includes a proof body having a first and a second interface that can each come into contact with an external mechanical structure; two sensitive zones arranged between these two interfaces; a sensitive zone formed by a plate embedded in a frame secured mechanically to the interfaces, the plate able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers bearing the plate at several resonant frequencies, sensors picking up the resonant signals produced at the particular points, measurement means measuring the resonant frequency shifts of signals which are linear combinations of the resonant signals picked up, the shifts being a function of mechanical stresses induced by the forces and transmitted to the plate by the frame, the components of the torque of forces being determined from the resonant frequency shifts measured on the plates of the sensitive zones.

Abstract: A resonant sensor comprises a proof body subjected to a torque of forces produced by an external mechanical structure, the body comprising: a first and a second interface that can each come into contact with the structure; at least two sensitive zones arranged between these two interfaces; a sensitive zone formed by a plate embedded in a frame secured mechanically to the interfaces, the plate able to resonate under the effect of local mechanical excitations produced at particular points by excitation transducers bearing the plate at several resonant frequencies, sensors picking up the resonant signals produced at the particular points, measurement means measuring the resonant frequency shifts of signals which are linear combinations of the resonant signals picked up, the shifts being a function of mechanical stresses induced by the forces and transmitted to the plate by the frame, the components of the torque of forces being determined from the resonant frequency shifts measured on the plates of the sensitive

Abstract: A method of managing the energy consumed by a motor vehicle, uses: a simulation unit incorporating a vehicle model predicting behavior of the vehicle and a driver model predicting behavior of the driver of the vehicle, the driver model receiving a speed setpoint and the speed of the vehicle measured at successive instants, and supplying a motor torque setpoint to the vehicle model which is a function of the speeds and of the modelled driver behavior; an optimization algorithm interacting with the simulation unit; the method including trajectories composed of the trajectory of the speed setpoint and the trajectory of a setpoint for controlling an item of auxiliary equipment, the trajectory of a setpoint describing the variation of the setpoint as a function of the position of the vehicle, the trajectories being calculated with respect to given objectives according to the optimization algorithm whose variables are formed from the setpoints.

Abstract: A method includes trajectories of setpoints controlling a motor mechanism and auxiliary unit, the trajectory describing variation of the setpoint by position of the mobile system, the trajectories being calculated with respect to objectives according to an optimization algorithm, said method comprising: storing an approximate profile of the route as segments of straight lines, forming positions sampled along the route, a sampled position corresponding to passage from one segment to the following segment; sampling the profile according to a spatial pitch, forming a series of positions sampled along the route; the trajectories being recalculated at each sampled position by the optimization algorithm, the setpoints being constant over a given segment, a simulation predicting the energy environment of the mobile system at each sampled position as a function of the setpoints and the profile of the route, the optimization algorithm taking the simulation result to calculate the setpoints.

Abstract: A method of detecting collision between a robot and its environment comprises: generating, on the basis of a dynamic model of the robot, a signal representative of the collisions between the robot and environment, the signal being a residual r; carrying out an adaptive high-pass filtering of the residual r; determining, in a recursive manner, an adaptive threshold T composed of at least one first dynamic term T?1 equal to an item of information regarding the parametric uncertainties between the model and real behavior of the robot, the parametric uncertainties being related to a first variable characteristic of the state of the robot among the following variables: position, velocity or acceleration of an articulation of the robot, or a linear or nonlinear function of one of these variables or of a combination; comparing the filtered residual with the adaptive threshold T to deduce the existence or otherwise of a collision.

Abstract: A method of managing the energy consumed by a motor vehicle, uses: a simulation unit incorporating a vehicle model predicting behavior of the vehicle and a driver model predicting behavior of the driver of the vehicle, the driver model receiving a speed setpoint and the speed of the vehicle measured at successive instants, and supplying a motor torque setpoint to the vehicle model which is a function of the speeds and of the modelled driver behavior; an optimization algorithm interacting with the simulation unit; the method including trajectories composed of the trajectory of the speed setpoint and the trajectory of a setpoint for controlling an item of auxiliary equipment, the trajectory of a setpoint describing the variation of the setpoint as a function of the position of the vehicle, the trajectories being calculated with respect to given objectives according to the optimization algorithm whose variables are formed from the setpoints.

Abstract: A micro-force sensor comprising a one-piece plate including a first area defining a first recess, which must be held in position relative to a mounting, a second area connected to the first area defining the first recess and a second recess, a measuring beam across the first recess having a first end embedded in the first area and a second end connected to the second area, an excitation beam across the second recess having two ends embedded in the second area and being provided with at least one excitation element, a third area connected to the first area and an effector beam having one free end for receiving the force being measured and one end-embedded in the third area, and a fourth area connecting the embedded end of the effector beam to the second end of the measuring beam, which is provided with a measuring element.

Abstract: A method includes trajectories of setpoints controlling a motor mechanism and auxiliary unit, the trajectory describing variation of the setpoint by position of the mobile system, the trajectories being calculated with respect to objectives according to an optimization algorithm, said method comprising: storing an approximate profile of the route as segments of straight lines, forming positions sampled along the route, a sampled position corresponding to passage from one segment to the following segment; sampling the profile according to a spatial pitch, forming a series of positions sampled along the route; the trajectories being recalculated at each sampled position by the optimization algorithm, the setpoints being constant over a given segment, a simulation predicting the energy environment of the mobile system at each sampled position as a function of the setpoints and the profile of the route, the optimization algorithm taking the simulation result to calculate the setpoints.

Abstract: An observation device of a non-linear system includes: at least one sensor supplying a measurement vector each component of which is a measurable output parameter of the non-linear system; and a state observer processor that, based on a predetermined state representation of the non-linear system, is configured to supply an estimation of a state vector of the non-linear system according to the measurement vector supplied and a control vector of the non-linear system. In addition, the predetermined state representation including a non-linearity model of the system in a form of a gain parameter, and one component of the state vector is this gain parameter.

Abstract: A micro-force sensor comprising a one-piece plate including a first area defining a first recess, which must be held in position relative to a mounting, a second area connected to the first area defining the first recess and a second recess, a measuring beam across the first recess having a first end embedded in the first area and a second end connected to the second area, an excitation beam across the second recess having two ends embedded in the second area and being provided with at least one excitation element, a third area connected to the first area and an effector beam having one free end for receiving the force being measured and one end-embedded in the third area, and a fourth area connecting the embedded end of the effector beam to the second end of the measuring beam, which is provided with a measuring element.

Abstract: A method for producing a flexible mechatronic system includes: a step of modeling the system by a mesh composed of a given combination of elementary blocks, each block being formed of a predefined assemblage of segments representing elementary beams, the mesh including at least one active block controllable by means of a control signal; a step of simulating the behavior of a terminal node of the model in open-loop response to a control signal; a step of characterizing the response by at least one static mechanical criterion and at least one numerical criterion representative of the decay of the resonance spikes of the response as a function of frequency. The above steps may be repeated. They are then followed by a step of selecting a design as a function of the criteria defined in the characterization step, the system being produced on the basis of the selected model.

Abstract: A method for producing a flexible mechatronic system includes: a step of modeling the system by a mesh including a given combination of elementary blocks, each block being formed of a predefined assemblage of segments representing elementary beams, the mesh including at least one active block controllable by means of a control signal; a step of simulating the behavior of a terminal node of the model in open-loop response to a control signal; a step of characterizing said response by at least one static mechanical criterion and at least one numerical criterion representative of the decay of the resonance spikes of the response as a function of frequency. The above steps may be repeated. The method further includes a step of selecting a design as a function of the criteria defined in the characterization step, the system being produced on the basis of the selected model.