A device operable to supply a force feedback to a...

Details A device operable to supply a force feedback to a... A device operable to supply a force feedback to a...

B - Operations, Transporting

25

J

B25J 13/02 (2006.01) B25J 9/00 (2006.01)

Patent

CA 2173749

A device operable to supply a force feedback to a physiological unit, to be used as an advanced interface for machines and including an exoskeleton which includes kinematic elements (7, 25, 34, 42, 56, 57) articulated about articulation axes arranged coincident with or in close proximity to the physiological axes of the physiological unit such as, for example, the flexion-extension axes of the phalanges of the fingers of a hand of an operator. A series of electrical actuators (11) controls the degree of tension on traction cables (13) applying a force feedback to the kinematic elements and, consequently, to the physiological unit, so as to simulate an interaction between the operator and a virtual object. The device includes position sensor means for detecting the configuration of the physiological unit and force sensor means for measuring the strength of the force locally applied thereto by the actuators controlled by actuators processing system.

Dispositif conçu pour fournir un retour de force à une unité physiologique servant d'interface perfectionnée à des machines et des ordinateurs et notamment à un exosquelette comprenant des éléments cinématiques (7, 25 34, 42, 56, 57) articulés autour d'axes d'articulation coïncidant ou presque avec les axes physiologiques de l'unité physiologique, tels que par exemple, l'axe de flexion-extension des phalanges des doigts de la main d'un opérateur. Une série d'actuateurs électriques (11) commandent le degré de tension de câbles (33) de traction appliquant un retour de force aux éléments cinématiques et par là à l'unité physiologique, de façon à simuler une interaction entre l'opérateur et un objet virtuel. Le dispositif comprend des capteurs de position détectant la configuration de l'unité physiologique et des capteurs dynamométriques mesurant l'intensité de la force qu'y appliquent localement les actuateurs commandés par le système de traitement.

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