FR2942658B1 - Peau protectrice pour robots - Google Patents

Peau protectrice pour robots

Info

Publication number
FR2942658B1
FR2942658B1 FR0900896A FR0900896A FR2942658B1 FR 2942658 B1 FR2942658 B1 FR 2942658B1 FR 0900896 A FR0900896 A FR 0900896A FR 0900896 A FR0900896 A FR 0900896A FR 2942658 B1 FR2942658 B1 FR 2942658B1
Authority
FR
France
Prior art keywords
robots
protective skin
skin
protective
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR0900896A
Other languages
English (en)
Other versions
FR2942658A1 (fr
Inventor
Frederic Colledani
Xavier Lamy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR0900896A priority Critical patent/FR2942658B1/fr
Priority to US13/203,628 priority patent/US9134140B2/en
Priority to PCT/EP2010/052470 priority patent/WO2010097459A1/fr
Priority to EP10706216A priority patent/EP2401584A1/fr
Publication of FR2942658A1 publication Critical patent/FR2942658A1/fr
Application granted granted Critical
Publication of FR2942658B1 publication Critical patent/FR2942658B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/16—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
    • G01D5/2417—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying separation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
FR0900896A 2009-02-27 2009-02-27 Peau protectrice pour robots Expired - Fee Related FR2942658B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR0900896A FR2942658B1 (fr) 2009-02-27 2009-02-27 Peau protectrice pour robots
US13/203,628 US9134140B2 (en) 2009-02-27 2010-02-26 Protective skin for robots
PCT/EP2010/052470 WO2010097459A1 (fr) 2009-02-27 2010-02-26 Peau protectrice pour robots
EP10706216A EP2401584A1 (fr) 2009-02-27 2010-02-26 Peau protectrice pour robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0900896A FR2942658B1 (fr) 2009-02-27 2009-02-27 Peau protectrice pour robots

Publications (2)

Publication Number Publication Date
FR2942658A1 FR2942658A1 (fr) 2010-09-03
FR2942658B1 true FR2942658B1 (fr) 2011-12-09

Family

ID=41349253

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0900896A Expired - Fee Related FR2942658B1 (fr) 2009-02-27 2009-02-27 Peau protectrice pour robots

Country Status (4)

Country Link
US (1) US9134140B2 (fr)
EP (1) EP2401584A1 (fr)
FR (1) FR2942658B1 (fr)
WO (1) WO2010097459A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2484203B (en) * 2010-09-27 2012-09-19 Peratech Ltd Resistance changing sensor
CN103624803A (zh) * 2012-08-23 2014-03-12 上海未来伙伴机器人有限公司 机器人的人造皮肤
JP5655871B2 (ja) * 2013-01-21 2015-01-21 株式会社安川電機 ロボット装置
DE102016112452A1 (de) * 2015-07-10 2017-01-12 Wälischmiller Engineering GmbH Roboter-Einrichtung mit einer angetriebenen Einheit und Aufbringverfahren
WO2017075201A1 (fr) * 2015-10-30 2017-05-04 Northwestern University Capteurs diélectrostrictifs pour la mesure d'une contrainte de cisaillement, surveillance du processus, et examen de la qualité de matériaux viscoélastiques
ITUA20163520A1 (it) * 2016-05-17 2017-11-17 Comau Spa "Dispositivo automatizzato con una struttura mobile, particolarmente un robot"
ITUA20163522A1 (it) * 2016-05-17 2017-11-17 Comau Spa "Copertura sensorizzata per un dispositivo industriale"
WO2018164141A1 (fr) 2017-03-06 2018-09-13 学校法人東京女子医科大学 Inhibiteur de lypd1 et procédé de production de tissu biologique l'utilisant
ES2760947T3 (es) * 2017-06-23 2020-05-18 Comau Spa Conjunto funcional para una máquina industrial, en concreto para un robot, que incluye una unidad funcional equipada con una cubierta de seguridad
FR3072176B1 (fr) 2017-10-10 2022-03-04 Fogale Nanotech Dispositif de mesure d'impedance
DE102017218229A1 (de) * 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter sowie Schutzelement für eine solche Schutzvorrichtung
IT201700121883A1 (it) 2017-10-26 2019-04-26 Comau Spa "Dispositivo automatizzato con una struttura mobile, in particolare un robot"
CN107866824A (zh) * 2017-11-21 2018-04-03 深圳市优必选科技有限公司 机器人电子皮肤
JP7045170B2 (ja) * 2017-11-24 2022-03-31 川崎重工業株式会社 ロボット
CN109029801B (zh) * 2018-05-25 2020-04-28 苏州大学 一种金属纳米线复合膜压力传感器及其制备方法
FR3117912B1 (fr) 2020-12-18 2023-05-19 Commissariat Energie Atomique Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.

Family Cites Families (19)

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Publication number Priority date Publication date Assignee Title
US5060527A (en) * 1990-02-14 1991-10-29 Burgess Lester E Tactile sensing transducer
US5287748A (en) * 1992-05-01 1994-02-22 Pitney Bowes Inc. Method and apparatus for changing the sensitivity of a transducer
US5510812A (en) * 1994-04-22 1996-04-23 Hasbro, Inc. Piezoresistive input device
DE19533756A1 (de) * 1995-09-12 1997-03-13 Fraunhofer Ges Forschung Elektronisches Bauelement zur statischen und dynamischen Druckerfassung
US5756904A (en) 1996-08-30 1998-05-26 Tekscan, Inc. Pressure responsive sensor having controlled scanning speed
DE59809233D1 (de) * 1997-12-06 2003-09-11 Elan Schaltelemente Gmbh & Co Überwachungs- und steuergerät sowie verfahren zur überwachung einer technischen anlage mit erhöhten sicherheitsanforderungen, insbesondere eines handhabungsgerätes
US6535824B1 (en) * 1998-12-11 2003-03-18 Symyx Technologies, Inc. Sensor array-based system and method for rapid materials characterization
US6497430B1 (en) * 1999-03-03 2002-12-24 Sensitron Inc. Mass profiling system
US6407553B1 (en) * 1999-12-08 2002-06-18 Lockhead Martin Corporation Strain gages for determining charge of a battery having a thin walled pressure vessel
US6480759B1 (en) * 2000-06-23 2002-11-12 Storage Technology Corporation Diagnostic port between independent robots
US7141812B2 (en) * 2002-06-05 2006-11-28 Mikro Systems, Inc. Devices, methods, and systems involving castings
US6499359B1 (en) * 2001-07-09 2002-12-31 Nartron Corporation Compressible capacitance sensor for determining the presence of an object
US6688185B2 (en) * 2001-08-20 2004-02-10 Autoliv Asp, Inc. System and method for microstrain measurement
US6964205B2 (en) 2003-12-30 2005-11-15 Tekscan Incorporated Sensor with plurality of sensor elements arranged with respect to a substrate
CN101405215B (zh) * 2006-05-18 2013-01-09 株式会社半导体能源研究所 微结构、微机械、以及微结构和微机械的制造方法
US7777478B2 (en) * 2006-06-08 2010-08-17 University Of Dayton Touch and auditory sensors based on nanotube arrays
GB0708702D0 (en) * 2007-05-04 2007-06-13 Peratech Ltd Polymer composition
WO2009023334A2 (fr) * 2007-05-18 2009-02-19 University Of Southern California Capteur tactile biomimétique pour un contrôle de prise
US20090076476A1 (en) * 2007-08-15 2009-03-19 Hansen Medical, Inc. Systems and methods employing force sensing for mapping intra-body tissue

Also Published As

Publication number Publication date
EP2401584A1 (fr) 2012-01-04
US9134140B2 (en) 2015-09-15
US20110307097A1 (en) 2011-12-15
WO2010097459A1 (fr) 2010-09-02
FR2942658A1 (fr) 2010-09-03

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