Souriau Et Cie

Societe D'etudes Et Applications Techniques S E a T

Philippe Amberny

Michel O De Mendez

A prehension unit suitable for use as a finger in a manipulator hand has a supporting body, a contact element carried by the supporting body through a resilient material and defining with the body a closed space. Optical sensors cooperate with a locally light reflecting surface of the contact element. Each sensor comprises an optical fiber for transmitting light from a remote transducer to an end portion terminating in the supporting body in front of the contact element surface and an optical fiber for collecting the light reflected by the surface and conveying it to a remote light sensitive transducer. The movements of the locally reflecting surface, due to axial, radial and/or angular movements of the contact element which results in a change of the amount of reflected light collected by the second fiber may be detected. The manipulator apparatus may be provided with motors for restoring the unit to a position for which no force is exerted by an object to be seized on the contact element.

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Savigny en Septaine, France

Philippe Amberny