Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of: conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, starless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: The invention relates to a regulator device (1) including a harmonic oscillator, intended to be integrated into a watch with at least two weights (2.1, 2.2, 2.3, 2.4) mounted so as to pivot, a drive means (3) rotated by the gear train of the watch, a connecting element (4) kinematically connected to the drive means (3) in a substantially orthoradial direction and coupled to the oscillating weights, and a return elastic element arranged to provide a common return force on the pivoting weights and tending to urge the connecting element (4) toward the axis (3a) of the oscillator.

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.

Abstract: The invention relates to a method for fixing a miniaturized component, especially comprising a micro-optical element, to a pre-determined fixing section of a baseplate by means of a soldered joint. Said baseplate comprises an upper side and a lower side, and the component comprises a base surface. At least the fixing section of the baseplate is coated on the upper side by a metallic layer which is applied at least in the fixing section in a continuously plane manner and thus without interruptions. Solder material is applied at least to the fixing section coated with the metallic layer. In one step of the method, the component is arranged above the fixing section, the base surface of the component being positioned above the solder material in such a way that they do not touch, are vertically interspaced and form an intermediate region between each other.

Abstract: The invention relates to a method, a device and a system for fixing a miniaturized component—especially carrying or containing at least one optical element—to a carrier plate in a highly-precise manner, by means of a soldered joint, a welded joint or an adhesive joint. Said component is positioned above the carrier plate in a relation to outer reference points by means of a gripper pertaining to a robot station. A joint is then created between the component and the carrier plate, the joint seam hardening under contraction between the component and the carrier plate, thus exerting a vertical tractive force on the gripper holding the component. At the same time as the contraction, the gripper is vertically displaced towards the carrier plate in a controlled or regulated manner, optionally up to a defined nominal position, and actively yields to the contraction such that the creation of high tensions is largely avoided and the position does not change when the component is detached from the gripper.

Abstract: The invention concerns a therapeutic device comprising a mechanical orthotic element (2, 3, 4) designed to constitute a contact surface with at least the patient's lower limbs and a neuromuscular stimulation element (33) including at least a pair of electrodes (37, 38) designed to act on the muscle or muscular group concerned of said patient's limb. The orthotic element comprises two orthoses including each three segments (2, 3, 4) designed to co-operate (11, 13; 12, 14; 15) with respectively the patient's thigh, leg and foot. The first segment is connected at one of its ends through a first motorised articulation (9) to an element (10) designed to co-operate with the patient's body at his hips and at its other end through a second motorised articulation (7) to one of the ends of the second segment. The other end of the second segment is linked through a third motorised articulation (8) to the third segment.

Abstract: The invention relates to a method, a device and a system for fixing a miniaturized component—especially carrying or containing at least one optical element—to a carrier plate in a highly-precise manner, by means of a soldered joint, a welded joint or an adhesive joint. Said component is positioned above the carrier plate in a relation to outer reference points by means of a gripper pertaining to a robot station. A joint is then created between the component and the carrier plate, the joint seam hardening under contraction between the component and the carrier plate, thus exerting a vertical tractive force on the gripper holding the component. At the same time as the contraction, the gripper is vertically displaced towards the carrier plate in a controlled or regulated manner, optionally up to a defined nominal position, and actively yields to the contraction such that the creation of high tensions is largely avoided and the position does not change when the component is detached from the gripper.

Abstract: The invention is directed to a touch probing device for inspecting an object which includes a fixed part, movable part coupled to and movable with respect to the fixed part for measuring the motion between the fixed and the movable parts, and a contact means coupled to the movable part for contacting a surface of the object. The contact means is preferably coupled to the movable part via a shock absorber. Alternatively, or in addition weight compensating means are provided for compensating the weight of the movable part. The weight compensating means preferably uses a magnetic field for compensating the weight of the movable part.

Abstract: High precision apparatus is described which can be arranged and used in the form of manipulators, actuators, position transducers or force transducers, having four to six degrees of freedom. A movable platform (2), to which the object (3) subjected to movements or forces is fixed, is connected to a base (1) of the apparatus by six links in parallel. These links comprise articulated kinematic units (11-16) each comprising a deformable parallelogram and an articulated transmission device connecting the parallelogram to the platform (2). The parallelogram is associated with a position sensor and an electromagnetic transducer, such as a linear motor.

Abstract: High precision apparatus is described which can be arranged and used in the form of manipulators, actuators, position transducers or force transducers, having four to six degrees of freedom. A movable platform (2), to which the object (3) subjected to movements or forces is fixed, is connected to a base (1) of the apparatus by six links in parallel. These links comprise articulated kinematic units (11-16) each comprising a deformable parallelogram and an articulated transmission device connecting the parallelogram to the platform (2). The parallelogram is associated with a position sensor and an electromagnetic transducer, such as a linear motor.

Abstract: The invention concerns a therapeutic device comprising a mechanical orthotic element (2, 3, 4) designed to constitute a contact surface with at least the patient's lower limbs and a neuromuscular stimulation element (33) including at least a pair of electrodes (37, 38) designed to act on the muscle or muscular group concerned of said patient's limb. The orthotic element comprises two orthoses including each three segments (2, 3, 4) designed to co-operate (11, 13; 12, 14; 15) with respectively the patient's thigh, leg and foot. The first segment is connected at one of its ends through a first motorised articulation (9) to an element (10) designed to co-operate with the patient's body at his hips and at its other end through a second motorised articulation (7) to one of the ends of the second segment.

Abstract: The invention is directed to a touch probing device for inspecting an object which includes a fixed part, movable part coupled to and movable with respect to the fixed part for measuring the motion between the fixed and the movable parts, and a contact means coupled to the movable part for contacting a surface of the object. The contact means is preferably coupled to the movable part via a shock absorber. Alternatively, or in addition weight compensating means are provided for compensating the weight of the movable part. The weight compensating means preferably uses a magnetic field for compensating the weight of the movable part.

Abstract: The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.

Abstract: The invention concerns a method whereby at least a predefined zone (A) of the object (2) is irradiated with a laser beam (4) capable of heating said zone sufficiently, to a temperature less than the material melting point, to provoke a change in the microstructure (for example crystallisation or recrystallisation) of said zone, said zone being heated at a temperature and for a time interval not rendering the material amorphous. The invention is applicable for example to reversible actuators and grippers.

Abstract: The invention concerns a movement transmission unit and a movement transmission apparatus employing the same. The movement transmission transmits at least two movement components, each possessing one degree of freedom of movement, from an input-side (6) to an output-side (82, 84), which movement then has at least two coupled degrees of freedom of movement, or vice versa. The invention also concerns one transmission unit (2) per input-side (6) degree of freedom of movement, i.e multiple transmission units (2), which are functionally bound together in parallel by means of their respective output sections (8). Each transmission unit (2) possesses an immobile, solidly fixed first section (4). Its input facility is a second section (6), which is bend linked to the fixed first section (4) by means of a unified linkage structure encompassing parts (22, 26, 34; 28, 36) and forming what becomes known as a first “parallelogram linkage”.

Abstract: The invention concerns a movement transmission unit and a movement transmission apparatus employing the same. The movement transmission transmits at least two movement components, each possessing one degree of freedom of movement, from an input-side (6) to an output-side (82, 84), which movement then has at least two coupled degrees of freedom of movement, or vice versa. The invention also concerns one transmission unit (2) per input-side (6) degree of freedom of movement, i.e multiple transmission units (2), which are functionally bound together in parallel by means of their respective output sections (8). Each transmission unit (2) possesses an immobile, solidly fixed first section (4). Its input facility is a second section (6), which is bend linked to the fixed first section (4) by means of a unified linkage structure encompassing parts (22, 26, 34; 28, 36) and forming what becomes known as a first “parallelogram linkage”.