# US 2014/0192020 A1 · Active gripper for haptic devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0192020 A1 - Document ID: US20140192020A1 - Status: Published application - Kind: A1 - Application number: 14/153,573 - Filed: 2014-01-13 - Published: 2014-07-10 - Earliest claimed: 2006-07-03 - Assignees: Force Dimension S.a.r.l. - Inventors: Patrick Helmer; Francois Conti; Sebastien Grange; Patrice Rouiller - Web page: https://patentgrep.com/patent/US20140192020A1 ## CPC - G06F 3/045: using resistive elements, e.g. a single continuous surface or two parallel surfaces put in contact - 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 17/0266: {comprising more than two actuating or connecting rods} - G05G 1/02: Controlling members for hand actuation by linear movement, e.g. push buttons - G05G 5/03: Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015) - Y10T 74/20305: Robotic arm - Y10T 74/20396: Hand operated - Y10T 74/20732: Handles - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - 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}) - G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other. ## Claims ### Claim at position 1 -10. (canceled) ### Claim 11 A haptic device comprising an active gripper comprising a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion; and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other; a base plate; an end-effector; and a parallel kinematics structure arranged between the base plate and the end-effector; the parallel kinematics structure providing three translational degrees of freedom on the end-effector such that the orientation of the end-effector is constant with respect to the base plate. ### Claim 12 (depends on 11) The haptic device according to claim 11, wherein the active gripper is attached on the end-effector. ### Claim 13 (depends on 11) The haptic device according to claim 11, further comprising a wrist structure being arranged between the end-effector and the active gripper, the wrist structure providing at least one degree of freedom for the active gripper, wherein rotational degrees of freedom provided by the wrist structure are completely decoupled from the translational degrees of freedom of the parallel kinematics structure. ### Claim 14 (depends on 13) The haptic device according to claim 13, wherein the degrees of freedom of the wrist structure are at least partially active. ### Claim 15 (depends on 13) The haptic device according to claim 13, wherein the wrist structure provides rotational degrees of freedom. ### Claim 16 (depends on 13) The haptic device according to claim 13, wherein rotational axes of the wrist structure have a common center of rotation. ### Claim 17 (depends on 16) The haptic device according to claim 16, wherein, during operation, the common center of rotation is located inside the user's hand. ### Claim 18 (depends on 13) The haptic device according to claim 13, wherein the parallel kinematics structure comprises at least one actuator associated to the three translational degrees of freedom, the at least one actuator for generating forces, torques, or combinations thereof for transmission to the end-effector (6) to provide force feedback to a user. ### Claim 19 (depends on 11) The haptic device according to claim 11, further comprising at least one further contact surface each being adapted for contact by a further portion of the user's hand, each of the hand's further portions being moveable in relation to at least one of the hand's first portion, the hand's second portion and a different of the hand's further portions, and at least one further moveable member, each thereof being associated to one of the at least one further contact surface and being adapted to actively move the associated further contact surface and at least one of the remaining contact surfaces in relation to each other. ### Claim 20 (depends on 11) The haptic device according to claim 11, wherein, in the active gripper, at least one moveable member includes at least one of a G shaped lever, a piezo-electric actuator, an electromagnetic actuator, a magnet actuator, a hydraulic actuator, a pneumatic actuator, and combinations thereof for generating force feedback. ### Claim 21 (depends on 11) The haptic device according to claim 11, wherein the active gripper provides a rotational degree of freedom by means of a rotational actuator for applying a torque, a force, or combinations thereof on the rotational degree of freedom to provide force feedback for a user. ### Claim 22 (depends on 21) The haptic device according to claim 21, wherein the rotational actuator is connected to the rotational degree of freedom by a force and/or torque transmission means. ### Claim 23 (depends on 22) The haptic device according to claim 22, wherein the force and/or torque transmission means comprises a cable and a pulley. ### Claim 24 (depends on 11) The haptic device according to claim 11, wherein the active gripper comprises at least one of the following features: the first contact surface is adapted for contact by at least one finger of the user's hand, and the second contact surface is adapted for contact by a thumb of the user's hand. ### Claim 25 (depends on 19) The haptic device according to claim 19, wherein, in the active gripper, each of the at least one further contact surface is adapted for contact by at least one of a palm of the user's hand and at least one finger of the user's hand. ### Claim 26 (depends on 19) The haptic device according to claim 19, wherein the active gripper comprises at least one of the following features: the first contact surface is arranged on the moveable member, the second contact surface is formed on a housing of the active gripper, and the at least one further contact surface is arranged on the associated further moveable member. ### Claim 27 (depends on 11) The haptic device according to claim 11, wherein the active gripper provides a degree of freedom by means of a button or switch.