# US 2009/0260473 A1 · Jointed Limb Comprising Fibres, and Jointed Structure and Robot or Haptic Interface Comprising Such a Jointed Limb > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2009/0260473 A1 - Document ID: US20090260473A1 - Status: Published application - Kind: A1 - Application number: 12/375,873 - Filed: 2007-07-27 - Published: 2009-10-22 - Earliest claimed: 2006-07-31 - Assignees: Commissariat a l'Energie Atomique - Inventors: Florian Gosselin - Web page: https://patentgrep.com/patent/US20090260473A1 ## CPC - B25J 17/00: Joints - B25J 9/0015: {Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 13/025: {comprising haptic means} - E05D 1/02: made of one piece - Y10T 74/20305: Robotic arm - Y10T 74/20329: Joint between elements - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - E05D: HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS (pivotal connections in general F16C11/00) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract The primary object of the present invention is a jointed and instrumented limb for robot or haptic interface comprising at least first (2) and second (4) rigid segments and a joint (6), said joint (6) comprising fibers and at least one measurement element (101, 102) and being fixed in each of the rigid segments (2, 4). The present invention also has for object a robot or a haptic interface comprising at least one such jointed limb. ## Claims ### Claim 1 A jointed limb for robot or haptic interface comprising at least first and second rigid segments and a joint, said joint comprising fibers and at least one measurement element and being fixed in each of the rigid segments. ### Claim 2 (depends on 1) The jointed limb according to claim 1, comprising at least two cables, parallel to each other, whereof a larger dimension is orthogonal to the axis of rotation of the joint, and the cables being made to bend. ### Claim 3 (depends on 1) The jointed limb according to claim 1, in which the joint comprises a layer of fibers. ### Claim 4 (canceled) ### Claim 5 (depends on 1) The jointed limb according to claim 1, in which the joint is of the universal type, said joint comprising a journal cross wherein ends of a first branch are jointed using a cable on two branches of the first segment and wherein ends of a second branch are jointed using a cable on two branches of the second segment. ### Claim 6 (depends on 1) The jointed limb according to claim 1, in which the joint comprises a cable, wherein a larger dimension of the cable extends along an axis of rotation of the joint, the cable being solicited in torsion. ### Claim 7 (depends on 1) The jointed limb according to claim 1, in which the measurement element comprises a thin film having an electric characteristic which varies according to its deformation. ### Claim 8 (depends on 1) The jointed limb according to claim 1, in which the measurement element is one of a flexible film having electrodes on its upper and lower faces and a capacity which varies according to its deformation, and a flexible film having electrodes on its upper and lower faces and a resistance which varies according to its deformation. ### Claim 9 (canceled) ### Claim 10 (depends on 7) The jointed limb according to claim 7, in which the measurement element is a flexible film equipped with stress gauges wherein a solicitation varies according to its deformation. ### Claim 11 (depends on 1) The jointed limb according to claim 1, in which the measurement element comprises one or more wires, cables, or fibers and having an electric characteristic comprising one of a capacity and a resistance which varies according to its deformation and an angle between the segments connected by the joint. ### Claim 12 (canceled) ### Claim 13 (depends on 1) The jointed limb according to claim 1, in which the measurement element is one of an optical fiber connected to a light transmitter and receiver and having a capacity to transmit light which varies according to its deformation and an angle between the segments connected by the joint, one or more antennas disposed within the film connecting the segments and having an inductive coupling which varies according to an angle between the segments connected by the joint. ### Claim 14 (canceled) ### Claim 15 (depends on 1) The jointed limb according to claim 1, in which ends of the joint are submerged in a material and which comprise loops through which the material passes, and having axes passing through the loops which are also submerged in the material. ### Claim at position 16 16-18. (canceled) ### Claim 19 (depends on 1) The jointed limb according to claim 1, in which the fibers are comprised of an aramid fiber, Kevlar or polypropylene. ### Claim 20 (depends on 1) The jointed limb according to claim 1, further comprising actuation means for one of the segments relative to the other. ### Claim 21 (canceled) ### Claim 22 (depends on 1) A jointed structure comprising a base provided with one or two arms, a mobile support mounted via a joint on the base, the mobile support forming a jointed limb according to claim 1 with the base, a jointed parallelogram comprising an arm, a connecting rod parallel to the arm and first and second parallel small connecting rods, the arm connected via a joint on the mobile support, the arm and the mobile support forming a jointed limb according to claim 1, the first small connecting rod connected via a joint on the mobile support or the arm and the first connecting rod, the support or the arm and the first small connecting rod, the connecting rod and the first small connecting rod respectively forming jointed limbs according to claim 1 and the second small connecting rod connected via a joint on the connecting rod and on the arm, the second small connecting rod and the arm forming a jointed limb according to claim 1 and the second small connecting rod and the connecting rod forming a jointed limb according to claim 1, the second small connecting rod forming an operation forearm. ### Claim 23 A robot or haptic interface comprising at least one jointed limb comprising at least first and second rigid segments and a joint, said joint comprising fibers and at least one measurement element and being fixed in each of the rigid segments. ### Claim 24 (depends on 22) A robot or haptic interface comprising two structures according to claim 22, arranged head to tail, such that free ends of two operation forearms face each other, said forearms each being connected via a joint to an operation element using a ball connection that includes a cable submerged in adjacent bodies. ### Claim 25 (depends on 6, 22) A robot or haptic interface comprising two structures according to claim 22, arranged one on top of the other, wherein free ends of two operation forearms are coupled to an operation element to form a jointed limb according to claim 6. ### Claim 26 (depends on 22) A robot or haptic interface comprising three structures according to claim 22, regularly distributed angularly around an axis, wherein ends of the forearms are all oriented from one side and support platform that supports an operation element. ### Claim 27 (depends on 1) A robot comprising a base, on which are arranged three mobile supports constructed to turn about three axes angularly and regularly, each support forming, with the base, a jointed limb according to claim 1, said robot comprising three first segments jointed on the mobile supports, forming with them jointed limbs according to claim 1, three second segments jointed by a first end respectively on the three first segments, said second segments forming, with said first segments, jointed limbs according to claim 1, said second segments supporting, at a second end, a platform supporting an operation element. ### Claim 28 (depends on 24) The robot or haptic interface according to claim 24, wherein the operation element is one of a stylus or a thimble designed to receive the end of a finger. ### Claim 29 (canceled) ### Claim 30 (depends on 22) A robot or haptic interface comprising at least two structures according to claim 22, each placed on a shared base adapted to be arranged on a user's hand.