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

Commissariat a L'energie Atomique

Robotiques 3 Dimensions

Dominique Ponsort

Philippe Garrec

Florian Gosselin

Alain Riwan

Yann Perrot

Aurelie Riglet

Franck Geffard

Xavier Lamy

Serge Grygorowicz

Aurélie Riglet

Julie Bonnemason

Flavien Coste

A lower limb () of an ambulatory exoskeleton comprising at least a pelvis segment (). a leg segment () and a foot segment (), the leg segment () being hinged at the First end () of same to the pelvis segment () and at the second end () of same to the foot segment (). the leg segment () comprising a spring element () and means () for varying the distance (d) separating the ends () of the leg segment (), the means () for varying the distance (d) separating the ends () of the leg segment () being carried by the pelvis segment ().

Lower limb of an exoskeleton with low power consumption

The invention relates to a robot comprising a tool (), a first chain of elements having a proximal end element () and a distal end element () to which the tool is connected, at least one control member () of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means () 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.

Co-handling robot comprising robot control means

A lower exoskeleton for a user including a pelvic element () with a mechanism for securing to an upper part of the user's body; two lower supports () with a mechanism for securing to the user's lower limbs and which rest on the ground during stance phases, each of the supports having a thigh segment and a tibia segment connected by a knee link to allow flexion and extension; and hip links for connecting the two lower supports to the pelvic element. The pelvic element has a an inner segment () extending symmetrically in relation to a central sagittal plane; and two outer segments () extending symmetrically and connected to respective distal ends of the inner segment by linking members ('), allowing flexion between the inner segment and each outer segment along two orthogonal axes.

Lower exoskeleton

The invention relates to an assist arm intended to be fitted on an exoskeleton, having a mounting plate () carrying a drive member (), a shoulder segment () articulated on the mounting plate, an arm segment () having a proximal end articulated on the shoulder segment, a forearm segment () having a proximal end articulated on a distal end of the arm segment, an actuating cable () driven by the drive member and forming two strands () which extend parallel to the first axis in order to pass through the first articulation and to wind around a receiving pulley () which is mounted in a rotating manner about the second axis and which rotates as one with the arm, and connecting means () coupled between the shoulder segment and the forearm second segment and arranged such that a flexion of the arm segment causes a concomitant flexion of the forearm segment.

Exoskeleton arm having an actuator

A bistable magnetic holding device, which includes: a nonmagnetic support casing in the form of a channel with a rectangular cross-section; a magnetic core including a base and three legs set perpendicularly to the base, the two outer legs and the base forming a 'U'; a permanent magnet in the form of a bar inserted between the base and the middle leg; a coil surrounding the middle leg; a flat movable part; and a return motion and guidance means built into the inside walls of the support so as to allow return motion, toward the upper part of the support casing, of the magnetic core.

Bistable magnetic holding device

A link with a transmission cable () between a driving pulley () and a driven pulley () causing a mobile unit () to rotate, has two strands () connecting the driven pulley () with idle pulleys () which are substantially aligned with an axis (Y) of rotation of an part () intermediate to the unit () and to the base () on which the motor () is secured. Thus, the motor () is positioned on optionally fixed parts and rotation of the support () has only very little effect on the tension of the cable (), so that it may always work properly. The invention is especially applied to articulated robot arms.

Growing community of inventors

Bievres, France

Dominique Ponsort