Abstract: A co-handling robot has a mixed-forced control law providing high effector sensitivity and enabling interaction with the body of the robot. A multi-axis force sensor is carefully positioned between the end member (flange) of an industrial co-handling robot and the tool supported thereby. A modified increased force control law is implemented in the robot controller by introducing a saturation function.

Abstract: A process of controlling an industrial robot includes the steps of calculating, in a calculation module, a control articular force setpoint of the axis controller module; calculating, in an articular converter, the articular conversion matrix from articular positions; providing the axis controller module with the multi-dimensional external forces exerted on the effector; calculating, in the axis controller module, the vector of the articular forces; calculating, in the axis controller module, the current loop control setpoints, taking into account the articular force vector and the articular force setpoint; and calculating, in the axis controller module, the control setpoints for the power units according to the control setpoints for the current loops.

Abstract: A co-handling robot has a mixed-forced control law providing high effector sensitivity and enabling interaction with the body of the robot. A multi-axis force sensor is carefully positioned between the end member (flange) of an industrial co-handling robot and the tool supported thereby. A modified increased force control law is implemented in the robot controller by introducing a saturation function.

Abstract: A process of controlling an industrial robot includes the steps of calculating, in a calculation module, a control articular force setpoint of the axis controller module; calculating, in an articular converter, the articular conversion matrix from articular positions; providing the axis controller module with the multi-dimensional external forces exerted on the effector; calculating, in the axis controller module, the vector of the articular forces; calculating, in the axis controller module, the current loop control setpoints, taking into account the articular force vector and the articular force setpoint; and calculating, in the axis controller module, the control setpoints for the power units according to the control setpoints for the current loops.

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: Method for programming a force to be applied by a working end of a robot, along at least part of a preprogrammed path of the working end, the method comprising the steps of: —moving the working end of the robot over the said at least part of the preprogrammed path, the driving of the robot being feedback-controlled in order to keep the working end in position without a force setpoint, —at least at one position during the movement, having an operator apply to the working end a force which is the opposite of that which is to be applied during the task and which has an intensity proportionate to that which is to be applied during the task, —determining the force that is to be applied during the task from the resistive force exerted by the robot in order to keep the working end on the path, —storing in memory the force thus determined in relation to the position of the working end while the opposing force is being applied.

Abstract: The invention relates to a robot comprising a tool (8), a first chain of elements having a proximal end element (6) and a distal end element (7) to which the tool is connected, at least one control member (9) of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means (13, 14, 15) for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element.

Abstract: Method for programming a force to be applied by a working end of a robot, along at least part of a preprogrammed path of the working end, the method comprising the steps of:—moving the working end of the robot over the said at least part of the preprogrammed path, the driving of the robot being feedback-controlled in order the keep the working end in position without a force setpoint,—at least at one position during the movement, having an operator apply to the working end a force which is the opposite of that which is to be applied during the task and which has an intensity proportionate to that which is to be applied during the task,—determining the force that is to he applied cluing the task from the resistive force exerted by the robot in order to keep the working end on the path,—storing in memory the three thus determined in relation to the position of the working end while the opposing force is being applied.

Abstract: The invention relates to a robot comprising a tool (8), a first chain of elements having a proximal end element (6) and a distal end element (7) to which the tool is connected, at least one control member (9) of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means (13, 14, 15) for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element.

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: Detector device arranged to cover at least one portion of a mobile appliance; the device has an electromechanical transducer including a substrate, a first series of electrodes, a second series of electrodes, and a deformable layer associated with the electrodes of the two series, the substrate, the electrodes, and the deformable layer forming a single unit mounted on the portion of the mobile appliance and arranged so that a current flowing between one of the electrodes of the first series and an adjacent electrode of the second series is proportional to a thickness of the deformable layer in register with the electrodes. The substrate including a base layer to which are attached the electrodes of the first series and the electrodes of the second series, which have facing portions, and a variable conduction layer that covers the base layer and the electrodes.

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: Detector device arranged to cover at least one portion of a mobile appliance; the device has an electromechanical transducer including a substrate, a first series of electrodes, a second series of electrodes, and a deformable layer associated with the electrodes of the two series, the substrate, the electrodes, and the deformable layer forming a single unit mounted on the portion of the mobile appliance and arranged so that a current flowing between one of the electrodes of the first series and an adjacent electrode of the second series is proportional to a thickness of the deformable layer in register with the electrodes. The substrate including a base layer to which are attached the electrodes of the first series and the electrodes of the second series, which have facing portions, and a variable conduction layer that covers the base layer and the electrodes.