Abstract: An actuator includes a frame, a screw/nut assembly including a nut which engages with a screw extending along a longitudinal axis, a motor arranged to rotate the screw and bring about a linear movement of the nut, the actuator further includes a single pair of return mechanisms having a first return mechanism and a second return mechanism which are rotatably mounted on the frame, the first return mechanism being connected to an output of the actuator, a first transmission member for transmitting a pulling force connected to the nut by its first end and its second end, which transmission member engages with the first return mechanism and the second return mechanism, and an anti-rotation device for preventing the nut from rotating relative to the screw.

Abstract: An actuator includes a frame, a screw/nut assembly including a nut which engages with a screw extending along a longitudinal axis, a motor arranged to rotate the screw and bring about a linear movement of the nut, the actuator further includes a single pair of return mechanisms having a first return mechanism and a second return mechanism which are rotatably mounted on the frame, the first return mechanism being connected to an output of the actuator, a first transmission member for transmitting a pulling force connected to the nut by its first end and its second end, which transmission member engages with the first return mechanism and the second return mechanism, and an anti-rotation device for preventing the nut from rotating relative to the screw.

Abstract: A method for controlling an electric actuation assembly with improved accuracy in controlling the torque or force generated. The method includes applying a plurality of known first output forces and recording a plurality of first input intensities for a first movement direction of the output; establishing, by interpolation, a first characteristic function; applying a plurality of second known output torques and recording a plurality of second input currents for a second movement direction of the output opposite to the first direction; establishing, by interpolation, a second characteristic function; establishing, on the basis of the first characteristic function, the second characteristic function, a magnetic constant of the motor and a reduction ratio of a gearbox, and a control correction coefficient; and controlling the actuation assembly by applying the control correction coefficient.

Abstract: A cable cylinder having a screw rotatable by a motor, a nut cooperating with the screw to move in the body, the cable cylinder having a pair of upstream and downstream pulleys on either side of the nut. In at least one of the pairs, the pulleys are rotationally secured to one another. The two cables each cooperating with one of the upstream cables and one of the downstream cables to define strands parallel to the screw rotational axis and attached to the nut. One of the cables forms a loop while the other extends beyond its downstream pulley to cooperate with a remote pulley rotatably mounted about a separate axis of rotation, the remote pulley forming a return to return the extended cable to the upstream pulley, the extended cable prevented from sliding over its upstream or associated downstream pulley that is rotationally engaged.

Abstract: A cable cylinder having a screw rotatable by a motor, a nut cooperating with the screw to move in the body, the cable cylinder having a pair of upstream and downstream pulleys on either side of the nut. In at least one of the pairs, the pulleys are rotationally secured to one another. The two cables each cooperating with one of the upstream cables and one of the downstream cables to define strands parallel to the screw rotational axis and attached to the nut. One of the cables forms a loop while the other extends beyond its downstream pulley to cooperate with a remote pulley rotatably mounted about a separate axis of rotation, the remote pulley forming a return to return the extended cable to the upstream pulley, the extended cable prevented from sliding over its upstream or associated downstream pulley that is rotationally engaged.

Abstract: A cable actuator (100) having a frame (10); a screw (2) rotatably mounted on the frame (10) and extending along a first axis (Ox); a nut (4) cooperating with the screw (2); a mechanism (30) for estimating the angular movement of the nut (4) about the first axis (Lx) relative to the frame (10); and a distance sensor (30) secured to the frame (10) and having a winder (33) for winding a thread (32), one end (32.1) of the thread (32) connected to the nut (4) at a connection point (4.1). The distance sensor (30) is arranged in such a manner that the thread (32) changes curvature at a first point (34) situated in a first plane (P1) orthogonal to the first axis (Ox).

Abstract: Method for controlling an electric actuation assembly (1), the method comprising the following steps: applying a plurality of known first output forces and recording a plurality of first input intensities for a first movement direction of the output; establishing, by interpolation, a first characteristic function; applying a plurality of second known output torques and recording (2) a plurality of second input currents for a second movement direction of the output opposite to the first direction; establishing, by interpolation, a second characteristic function; establishing, on the basis of the first characteristic function, the second characteristic function, a magnetic constant of the motor (11) and a reduction ratio of a gearbox (12), and a control correction coefficient; controlling the actuation assembly (1) by applying the control correction coefficient.

Abstract: An actuator having a nut (4) co-operating with a screw (2); a first cable (6) coupled to the nut and functionally connected to an output (16, 17, 22.4) of the actuator (100); and a motor (3) arranged to drive the screw (2) in rotation. The actuator also has a mechanism (92) for comparing the actual position of the nut relative to the frame (10) with a theoretical position for the nut relative to the frame (10) in order to obtain a position deviation (?ang4, ?lin4) of the nut; and a mechanism (93) for determining a force applied to the output (22.4) of the cable actuator (100) as a function of the position deviation of the nut. Also disclosed is a method of measuring a force applied to an output (16, 17, 24.1) of an actuator (100), and to a method of determining prior loading (t6,9) of a cable actuator (100).

Abstract: A cable actuator (100) comprising: a frame (10); a screw (2) rotatably mounted on the frame (10) and extending along a first axis (Ox); a nut (4) cooperating with the screw (2); means (30) for estimating the angular movement of the nut (4) about the first axis (Lx) relative to the frame (10); and a distance sensor (30) secured to the frame (10) and having a winder (33) for winding a thread (32), one end (32.1) of the thread (32) connected to the nut (4) at a connection point (4.1); wherein the distance sensor (30) is arranged in such a manner that the thread (32) changes curvature at a first point (34) situated in a first plane (P1) orthogonal to the first axis (Ox).

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 cable cylinder (100) comprising a frame (1);—a pin (2) mounted on the frame and extending along a first axis (Oy);—a nut (4) engaging with the pin (2);—a first cable (10) coupled to the nut or the pin (2) and intended to be functionally connected to an element to be moved;—a motor (3) designed to rotate the pin (2) or the nut (4); characterised in that the first cable (6) comprises at least a first section (6.1) extending substantially parallel to the first axis (Ox), and the first cable (6) is designed to exert opposing forces on rotation of the nut (4) by the pin (2) or of the pin (2) by the nut (4) in order to constitute anti-rotation means so that a rotation of the pin (2) or of the bolt (4) under the action of the motor (3) causes a relative movement of the nut (4) and of the pin (2).

Abstract: A lower member (1) of an ambulatory exoskeleton (2), the lower member having at least a body segment (10) having at least one first leg segment (20) hinged thereto (Ps). The lower member (1) of the exoskeleton (2) including a first hinge blocker having a first element (51) provided with functionally connecting it to turn with the first leg segment (20); a first skid (30); and a first actuator (33) capable of acting selectively to adopt a free first state in which the first element (51) is free to turn both in a first direction (S1) and in a second direction opposite to the first direction, and a blocking second state in which turning of the first element (51) in the first direction is blocked by the first element (51) jamming against the first skid (30).

Abstract: An actuator (100) comprising: a frame (20); a screw (2) mounted on the frame; a nut (4) co-operating with the screw (2); a motor (3) arranged to drive the screw (2) in rotation; a first cable strand (6.1) and a second cable strand (9.1) coupled to the nut (4) and extending on a first side (8.1) of a first plane (P1); a third cable strand (6.4) and a fourth cable strand (9.4) coupled to the nut (4) and extending on a second side (8.2) of the first plane (P1); the first cable strand (6.1) and the second cable strand (9.1) extending in a second plane (P2); the third cable strand (6.4) and the fourth cable strand (9.4) extending in a third plane (P3); and the second plane (P2) and the third plane (P3) being distinct.

Abstract: An actuator (100) comprising: a frame (20); a screw (2) mounted on the frame; a nut (4) co-operating with the screw (2); a motor (3) arranged to drive the screw (2) in rotation; a first cable strand (6.1) and a second cable strand (9.1) coupled to the nut (4) and extending on a first side (8.1) of a first plane (P1); a third cable strand (6.4) and a fourth cable strand (9.4) coupled to the nut (4) and extending on a second side (8.2) of the first plane (P1); the first cable strand (6.1) and the second cable strand (9.1) extending in a second plane (P2); the third cable strand (6.4) and the fourth cable strand (9.4) extending in a third plane (P3); and the second plane (P2) and the third plane (P3) being distinct.

Abstract: An actuator having a nut (4) co-operating with a screw (2); a first cable (6) coupled to the nut and functionally connected to an output (16, 17, 22.4) of the actuator (100); and a motor (3) arranged to drive the screw (2) in rotation. The actuator also has a mechanism (92) for comparing the actual position of the nut relative to the frame (10) with a theoretical position for the nut relative to the frame (10) in order to obtain a position deviation (?ang4, ?lin4) of the nut; and a mechanism (93) for determining a force applied to the output (22.4) of the cable actuator (100) as a function of the position deviation of the nut. Also disclosed is a method of measuring a force applied to an output (16, 17, 24.1) of an actuator (100), and to a method of determining prior loading (t6, 9) of a cable actuator (100).

Abstract: A lower limb of an exoskeleton or a bipedal robot, having a thigh segment (1), a leg segment (3) and a foot (4). The leg segment includes two connecting rods (3a, 3b) having proximal ends that are articulated along parallel axes on the thigh segment, the two connecting rods having distal ends articulated along parallel axes on the foot.

Abstract: A cable cylinder (100) comprising a frame (1);—a pin (2) mounted on the frame and extending along a first axis (Oy);—a nut (4) engaging with the pin (2);—a first cable (10) coupled to the nut or the pin (2) and intended to be functionally connected to an element to be moved;—a motor (3) designed to rotate the pin (2) or the nut (4); characterised in that the first cable (6) comprises at least a first section (6.1) extending substantially parallel to the first axis (Ox), and the first cable (6) is designed to exert opposing forces on rotation of the nut (4) by the pin (2) or of the pin (2) by the nut (4) in order to constitute anti-rotation means so that a rotation of the pin (2) or of the bolt (4) under the action of the motor (3) causes a relative movement of the nut (4) and of the pin (2).

Abstract: The invention relates to a portable device (1) for amplifying an axial force applied to a tool, which includes: means (100) for linking the device to a user; means (2) for guiding the tool (4) it translation along a longitudinal axis (X); means for actuating the tool, including a drum (5) provided with a motor (6) and a rope (7) rigidly connected to the tool (4) and forming at least one turn (8) around the drum (5); and means for controlling the actuating means in order to apply a force to the tool in response to a force provided by the user via a control member. The means (100) for linking the device to the user and the means (2) for guiding the tool (4) in translation allow the tool (4) to rotate freely about the longitudinal axis (X) and about at least one axis (Z, Y) extending in a plane (P) which is normal to the longitudinal axis (X).

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 cable actuator comprising a chassis (1), a screw (2) mounted rotatably on the chassis and driven by an electric motor, a nut (4) engaging with the screw and associated with anti-rotation means such that a rotation of the screw, under the action of the motor, results in an axial movement of the nut, and two substantially parallel cables (10) coupled to the nut on either side of same. The cables are linked to an anchoring member (20; 30; 40) that is interposed between the nut and the cables, the anchoring member being secured to the nut while also being movable relative to same.