Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Alexandre Verney

Philippe Garrec

Alain Riwan

An exoskeleton upper limb includes a frame and a connection interface movably mounted relative to the frame to perform a second rotation and a third rotation. The second rotation is actuated by a first kinematic chain of actuation including a first actuator. The third rotation is actuated by a second kinematic chain of actuation including a second actuator. The first kinematic chain includes a first connecting rod and/or the second kinematic chain includes a second connecting rod.

Exoskeleton upper limb with improved compactness

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

Cable actuator with improved force sensitivity

Spherical wheel that can be driven by a motor comprising a first body () and a second body () which are substantially hemispherical and are mounted coaxially to one another so as to pivot about a support axle (), the bodies being separated by an interstice () into which there extends a shaft (), said shaft having an end that is rigidly connected to the support axle and an opposite end that is connected to a drive motor, characterized in that at least one element () extending at least one portion of the outer surface of the bodies extends into the interstice. Vehicle comprising a chassis that is supported by such wheels.

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Grenoble, France

Alexandre Verney