Motor driven articulated arm with cable capstan including a brake

A method for controlling a motor-driven articulated haptic interface arm comprising at least:

• a frame;
• an arm linked to said frame so as to be rotationally mobile about at least one axis, forces being liable to be applied to said arm by its environment;
• a motor, comprising a rotor, designed to deliver a least one resistant torque, up to a maximum value, about said axis opposing at least in part said forces applied to said arm by said environment;
• a main transmission for transmission to said arm of said resistant torque generated by said motor, said main transmission comprising at least one capstan-type cable reducer;
• a break, which brakes rotation of said arm about said axis;
• said method comprising the following acts performed by control circuitry:
• evaluating said resistant torque transmitted to said arm by said motor;
• activating said break when said resistant torque delivered by said motor reaches said maximum value;
• evaluating, after activation of said break, of the forces transmitted to said arm by said environment, comprising determining at least one piece of information representing a deformation of said main transmission under the effect of said forces;
• deactivating said break when said piece of information representing said deformation of said main transmission goes below a predetermined threshold value.