FR2693397B1 - Sensory feedback device representative of the effort exerted on a remote manipulator by its user. - Google Patents

Sensory feedback device representative of the effort exerted on a remote manipulator by its user.

Info

Publication number
FR2693397B1
FR2693397B1 FR9208523A FR9208523A FR2693397B1 FR 2693397 B1 FR2693397 B1 FR 2693397B1 FR 9208523 A FR9208523 A FR 9208523A FR 9208523 A FR9208523 A FR 9208523A FR 2693397 B1 FR2693397 B1 FR 2693397B1
Authority
FR
France
Prior art keywords
user
feedback device
sensory feedback
remote manipulator
effort exerted
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
FR9208523A
Other languages
French (fr)
Other versions
FR2693397A1 (en
Inventor
Jean-Marc Hennebaut
Edouard Peruchon
Jean-Paul Micallef
Christian Valentin
Ibrahim Tadjou
Pierre Rabischong
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.)
Orano Demantelement SAS
Original Assignee
Compagnie Generale des Matieres Nucleaires SA
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 Compagnie Generale des Matieres Nucleaires SA filed Critical Compagnie Generale des Matieres Nucleaires SA
Priority to FR9208523A priority Critical patent/FR2693397B1/en
Publication of FR2693397A1 publication Critical patent/FR2693397A1/en
Application granted granted Critical
Publication of FR2693397B1 publication Critical patent/FR2693397B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • B25J19/061—Safety devices with audible signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
FR9208523A 1992-07-09 1992-07-09 Sensory feedback device representative of the effort exerted on a remote manipulator by its user. Expired - Fee Related FR2693397B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR9208523A FR2693397B1 (en) 1992-07-09 1992-07-09 Sensory feedback device representative of the effort exerted on a remote manipulator by its user.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9208523A FR2693397B1 (en) 1992-07-09 1992-07-09 Sensory feedback device representative of the effort exerted on a remote manipulator by its user.

Publications (2)

Publication Number Publication Date
FR2693397A1 FR2693397A1 (en) 1994-01-14
FR2693397B1 true FR2693397B1 (en) 1994-09-02

Family

ID=9431744

Family Applications (1)

Application Number Title Priority Date Filing Date
FR9208523A Expired - Fee Related FR2693397B1 (en) 1992-07-09 1992-07-09 Sensory feedback device representative of the effort exerted on a remote manipulator by its user.

Country Status (1)

Country Link
FR (1) FR2693397B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102448399A (en) * 2009-03-31 2012-05-09 直观外科手术操作公司 Optic fiber connection for a force sensing instrument

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2828126B1 (en) * 2001-07-31 2003-10-31 Calhene MECHANICAL TELEMANIPULATOR PROTECTED AGAINST OVERLOADS
US8375808B2 (en) 2005-12-30 2013-02-19 Intuitive Surgical Operations, Inc. Force sensing for surgical instruments
US7752920B2 (en) 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
US8496647B2 (en) * 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US8945095B2 (en) 2005-03-30 2015-02-03 Intuitive Surgical Operations, Inc. Force and torque sensing for surgical instruments
EP2289455B1 (en) 2005-12-30 2019-11-13 Intuitive Surgical Operations, Inc. Modular force sensor
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US8628518B2 (en) 2005-12-30 2014-01-14 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US9895813B2 (en) 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
CN103170974B (en) * 2013-02-01 2015-07-08 孙振忠 Target body remote maintenance device and assembly thereof and operation technology under hot chamber environment
CN111480059B (en) 2017-11-14 2022-10-04 直观外科手术操作公司 Separated bridge circuit force sensor
US11024013B2 (en) 2019-03-08 2021-06-01 International Business Machines Corporation Neural network based enhancement of intensity images

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2435329A1 (en) * 1978-07-10 1980-04-04 Ass Ouvriers Instr Precision Jack-driven robot arm for applying paint - memorises initial manually imparted movements, using detection handle load to operate jack
US4305028A (en) * 1980-04-04 1981-12-08 Nordson Corporation System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions
DE3045094A1 (en) * 1980-11-29 1982-07-01 Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe Programmable manipulator or industrial robot - has duplicate manually operated manipulator to establish position data points during programming
GB2110428A (en) * 1981-11-25 1983-06-15 Offshore Syst Eng Osel Control system for a manipulator arm
DE3240251A1 (en) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln METHOD FOR PROGRAMMING MOVEMENTS AND, IF REQUIRED, MACHINING FORCES OR -MOMENTS OF A ROBOT OR MANIPULATOR AND DEVICE FOR CARRYING OUT THIS
EP0122347B1 (en) * 1983-02-15 1988-04-20 Graham S. Hawkes Audio feedback for remotely controlled manipulators
CA1333415C (en) * 1988-07-18 1994-12-06 Patrick Tze-Kwai Fung Human-in-the-loop machine control loop
US4950116A (en) * 1988-08-18 1990-08-21 Kabushiki Kaisha Toshiba Manipulator controlling apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102448399A (en) * 2009-03-31 2012-05-09 直观外科手术操作公司 Optic fiber connection for a force sensing instrument
CN102448399B (en) * 2009-03-31 2015-12-16 直观外科手术操作公司 For the Fiber connection of power sensing instrument

Also Published As

Publication number Publication date
FR2693397A1 (en) 1994-01-14

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Legal Events

Date Code Title Description
TP Transmission of property
ST Notification of lapse