• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a motorized articulated module (10) comprising two movable elements (11, 12), one with respect to the other, a linear actuator (15) for motorizing the module and comprising a body (16) and a rod (17) able to move in translation relative to the body (16) along an axis (18), the body (16) of the jack being connected to each of the two elements by means of a connection (21, 22) at least one rotational degree of freedom and two links (24, 25) associated with the jack, each connected to the rod (17) of the jack by means of a link (30) with a degree of freedom of rotation, the first link (24) being connected to the first element (11) by means of a connection (31) to at least one rotational degree of freedom, the second link (25) being connected to the second element (12) by means of a linking (32) to at least one degree of freedom in rotation. The invention also relates to a joint comprising a plurality of modules and an exoskeleton comprising a plurality of articulations.
    公开号:FR3013586A1
    申请号:FR1361672
    申请日:2013-11-27
    公开日:2015-05-29
    发明作者:Faycal Namoun；Ramzi Sellaouti；Laurent Pistiaux
    申请人:ASSISTIVE ROBOTIC TECHNOLOGIES；
    IPC主号:
    专利说明:

    [0001] The invention relates to a motorized articulated module, a system comprising several modules and an exoskeleton comprising several articulations. Such modules find their utility in a robot type trompe s elephant or snake. This type of robot is for example used to reproduce the movements of a spine. The human spine is the part of the human body that has the largest number of joints. Each of these joints has five to six degrees of freedom. Many attempts have been made in humanoid robots in order to get as close as possible to the human functionalities. Conventionally, attempts have been made to reproduce in robots several vertebrae of a human vertebral column by placing motorized joints between each vertebra. To approach a human vertebral column, it is necessary to provide a large number of articulated vertebrae. Conventionally, the vertebrae of the robots are formed of plates and cylinders perpendicular to the plates serve as articulations between the vertebrae. The range of motion of the jacks contributes to the mobility of the spine. This amplitude is limited by the distance separating two adjacent plates. In a given space, the increase in the number of vertebrae is to the detriment of the relative amount of movement of the vertebrae between them. The invention aims to improve the mobility of the vertebrae together. In other words, for a given distance separating two vertebrae, the invention seeks to increase the amplitude of the relative displacements of two neighboring vertebrae. For this purpose, the subject of the invention is a motorized articulated module 30 comprising two elements movable relative to each other, characterized in that it further comprises: a first linear jack allowing motorization of the module and comprising a body and a rod adapted to move in translation relative to the body along an axis, the body of the first jack being connected to each of the two elements by means of a connection to at least one degree of freedom in rotation, - two rods associated with the first cylinder, each connected at a first end to the rod of the first cylinder by means of a connection to a degree of freedom in rotation, a second end of a first of the two rods being connected to the first of the two elements by means of a connection to at least one rotational degree of freedom, a second end of a second of the two links being connected to the second of the two elements by means of a connection at least s a degree of freedom in rotation.
    [0002] The motorized articulated module according to the invention can be implemented in any type of robot. Among the envisaged applications one can of course quote a spine in which the two movable elements of the invention form two neighboring vertebrae, the modules being assembled in series. The spine is to be understood in the broad sense. We can find the serialization of modules to make a robot type fish to move in the water. Another application of the modules placed in series can be considered in an exoskeleton and in particular for the joints of the limbs, for example the hip or the knee of the exoskeleton.
    [0003] For the realization of a robot in which modules according to the invention are put in series, the invention also relates to an articulation comprising several articulated modules according to the invention, characterized in that a movable element is common to two adjacent modules.
    [0004] The invention will be better understood and other advantages will appear on reading the detailed description of an embodiment given by way of example, a description illustrated by the accompanying drawing in which: FIG. 1 is a sectional view of an articulated module motorized according to the invention; Figure 2 shows in perspective the module according to the invention; FIG. 3 is an exploded view of the module according to the invention; FIG. 4 represents an exoskeleton using several modules according to the invention; Figure 5 shows an articulation of the hip of the exoskeleton; Figure 6 shows a knee joint of the exoskeleton. For the sake of clarity, the same elements will bear the same references in the different figures.
    [0005] The invention allows to motorize the articulation of two rigid elements called vertebrae thereafter. The two vertebrae can move relative to each other in one or two degrees of freedom in rotation. Each rotation is motorized. The term vertebra is used in relation to a human vertebra. In robotics, it is conventional to model the mobility of two vertebrae by a connection with two rotations of small amplitude, of the order of a few degrees. The invention already has an interest for two vertebrae having only one degree of freedom in rotation. The invention can also be implemented for two vertebrae movable between them in two degrees of freedom in rotation, the axes of the two rotations being secant. The axes of the two rotations can be perpendicular. It is also possible to orient the two axes of rotation so as to form between the axes an angle less than 90 °, for example around 60 °. This allows to privilege certain movements of the vertebrae between them. FIG. 1 is a sectional view of an articulated, motorized module 10 comprising two vertebrae 11 and 12 each formed by a rigid mechanical part and which is assumed to be indeformable with respect to the movements of the articulation. The vertebra 11 extends mainly in a plane 13 and the vertebra 12 extends mainly in a plane 14. The two planes 12 and 14 are perpendicular to the plane of Figure 1. The module 10 shown in Figure 1 has two degrees of freedom in rotation. A first degree of freedom is articulated around an axis perpendicular to the plane of FIG. 1. This first degree of freedom is motorized by means of a linear jack 15 comprising a body 16 and a rod 17. The rod 17 is adapted to move in translation relative to the body 16 along an axis 18 contained in the plane of Figure 1. The cylinder 15 may be motorized by any form of energy. It can be a hydraulic cylinder, pneumatic or electric. The body 16 of the jack 15 is connected to the vertebra 11 by means of a link with two degrees of freedom in rotation 21 and to the vertebra 12 by means of a connection with at least two degrees of freedom in rotation 22. The two links 21 and 22 are for example ball-type links. A third degree of freedom in rotation present in the ball joint is not functionally useful but makes it possible to reduce the hyperstaticity of the overall connection between the two vertebrae 11 and 12. Moreover, a ball joint is simpler to perform than link with two degrees of freedom in rotation. In the case of a module where the vertebrae are movable together in a single degree of freedom in rotation, the links connecting the body 16 to each of the two vertebrae 11 and 12 may have only one degree of freedom in rotation. These are then pivot links whose respective axes are both perpendicular to the plane of Figure 1 and therefore parallel to the axis of rotation of the two vertebrae together. The module 10 shown in Figure 1 comprises two rods 24 and 25 associated with the cylinder 15. The rods 24 and 25 each extend in a slender manner between two ends, 26 and 27 for the rod 24 and 28 and 29 for the rod 25 The links 24 and 25 advantageously have the same length between their ends. The rods 24 and 25 are connected by their ends 27 and 29 to the rod 17 of the cylinder 15 each by means of a connection to a degree of freedom in rotation. Advantageously, the two links 24 and 25 are hinged relative to the rod 17 of the cylinder by means of the same pivot connection, which facilitates the realization of this connection. It is a pivot connection 30 whose axis is perpendicular to the plane of Figure 1 and therefore parallel to the axis of rotation of the motorized link by the cylinder 15. Alternatively, it is possible to implement two separate pivot links each between the rod 17 and one of the rods 24 and 25. The two pivot links then both have axes of rotation parallel to the axis of rotation of the motorized connection by the cylinder 15. The rod 24 is connected at its end 26 to the vertebra 11 by means of a connection to at least two degrees of freedom of rotation 31. Similarly, the rod 25 is connected at its end 28 to the vertebra 12 by means of a connection to at least two degrees of freedom in rotation 32. As before, the two links 31 and 32 may be ball-type links.
    [0006] As previously, in the case of a module where the vertebrae are movable between them in a single degree of freedom in rotation, the links connecting rods 24 and 25 to each of the two vertebrae 11 and 12 may have only one degree of freedom in rotation. These are then pivot links whose respective axes are both perpendicular to the plane of Figure 1 and therefore parallel to the axis of rotation of the two vertebrae together. Nevertheless, even in this case, the links between the links and the vertebrae can be of the cardan type, that is to say with two degrees of freedom in order to avoid a degree of hyperstatism in the module, which would appear in the parallelism required between the axes of pivot connections connecting the body of the cylinder to the vertebrae and the axes of the pivot links connecting the rods to the vertebrae. When the jack 15 is actuated, the rod 17 moves in translation relative to the body 16. The two ends 27 and 29 of the two rods 24 and 25 move on the axis 18 and the distance between the vertebrae 11 and 12 changes, distance measured at the links 31 and 32 with the rods 24 and 25. During this movement of the cylinder 15, its body 16 pivots with respect to each of the vertebrae 11 and 12 at each of the links 21 and 22. During the movement of the jack 15, the two vertebrae 11 and 12 pivot relative to each other about an axis 33 situated at a distance from the links 21 and 22. FIG. 2 represents in perspective the module 10 of FIG. and Figure 3 shows the same module exploded perspective. These two figures make it possible to show the presence of two jacks whose translation axes are distinct. We find the two vertebrae 11 and 12, the cylinder 15 and the two connecting rods 24 and 25 associated with it. The module 10 further comprises a second linear jack 35 comprising a body 36 and a rod 37 adapted to move in translation relative to the body 36 along an axis 38 distinct from the axis 18. The body 36 is integral with the body 16. The two bodies 16 35 and 36 can belong to the same mechanical part. The bodies 16 and 36 are connected to each of the two vertebrae 11 and 12 by means of a link with two degrees of freedom in rotation, respectively the link 21 for the vertebra 11 and the link 22 for the vertebra 12. The module 10 comprises also two rods 44 and 45 associated with the cylinder 35. As for the rods 24 and 25, the rods 44 and 45 each extend in a slender manner between two ends, 46 and 47 for the rod 44 and two ends 48 and 49 for the rod 45. The rods 44 and 45 advantageously have the same length between their ends. The module 10 may comprise different pairs of links, the first pair being formed of the links 24 and 25 and the second pair of the links 44 and 45. This difference makes it possible to modulate differently the amplitude of the motorized rotations by each of the cylinders 15 and 35. Alternatively, the four links 24, 25, 44 and 45 may have the same length. In addition to the symmetry of the two rotations, this alternative simplifies the manufacture of the module 10 by reducing the number of different components. The rods 44 and 45 are connected by their ends 47 and 49 to the rod 37 of the cylinder 35 by means of a connection to a degree of freedom in rotation. Advantageously, the two links 44 and 45 are hinged relative to the rod 37 of the cylinder 35 by means of the same pivot connection, which facilitates the realization of this connection. It is a pivot link 50 whose axis is parallel to the axis of rotation of the motorized link by the cylinder 35. To make a single link 50 to connect three mechanical parts, in this case the two links 44 and 45 and the rod 37, the two rods 44 and 45 may each comprise a fork, respectively 54 and 55. The rod 37 comprises a finger 56. The assembly of the pivot connection 50 is visible in Figure 2. The forks 54 and 55 are nested one inside the other and the finger 56 is disposed between the forks 54 and 55. In this arrangement, an axis 57 passes through the three mechanical parts at the forks 54 and 55 and the finger 56. The pivot connection 50 is provided by leaving a functional clearance between the finger and at least two of the mechanical parts through which it passes. The presence of the forks makes it possible to pass through the forces in the rod 37 by its axis 38 and in each of the rods 44 and 45 by their respective main direction. Alternatively, it is possible to simplify the design by passing the fork and arranging the ends 47 and 49 and the finger 56 side by side and always through these three elements by the axis 57. This simplification of the pivot link 50 is at the expense of the symmetry of the forces in the module 10. The pivot connection 30 can be performed identically to the pivot connection 50. As for the connections between the rod 17 and the two rods 24 and 25, it is possible to implement two separate pivot links each between the rod 37 and one of the rods 44 and 45. The two pivot links then both have axes of rotation parallel to the axis of rotation of the motorized link by the jack 35. The rod 44 is connected at its end 46 to the vertebra 11 by means of a connection with two rotational degrees of freedom 51. Similarly, the link 45 is connected at its end 48 to the vertebra 12 by means of a connection to two degrees of freedom in rotation 52. As before, the two links 51 and 52 may be ball-type links. As for the cylinder 15, when the cylinder 35 is actuated, the distance between the vertebrae 11 and 12 at the links 51 and 52 changes. The two rotations of the vertebrae relative to each other are completely independent, each cylinder 15 and 35 for motorizing one of the rotations.
    [0007] FIG. 4 represents an exoskeleton 60 implementing several modules according to the invention. For example, the exoskeleton 60 makes it possible for a person with a disability of the lower limbs to move while walking. The exoskeleton 60 makes it possible to accompany the movement of the hips, knees and ankles of the person 61. For this purpose, the exoskeleton 60 comprises an upper portion 62 strapped to the bust of the person 61 and a lower portion 63 having several motorized joints to overcome the motor impairments of the handicapped person 61. The motorized joints are arranged in the lateral vicinity of the lower limbs of the person 61.
    [0008] The exoskeleton 60 comprises from upstream to downstream, that is to say away from the upper part 62 towards the feet of the person 61, two joints 65 each accompanying the movements of a hip of the person 61, two joints 66 accompanying each movement of a knee of the person 61 and two joints 67 accompanying each movement of an ankle of the person 61.
    [0009] For convenience, the hinge 65 will subsequently be called the hip of the exoskeleton 60 and the hinge 66: the knee of the exoskeleton 60. The exoskeleton 60 is attached to each of the feet of the person 61 downstream of each of the 67. It is quite possible to equip a person 61 partially or totally amputated lower limbs. Each of the hips 65 comprises a system consisting of four modules and each of the knees 66 comprises a system consisting of three modules. In each system, a vertebra is common to two adjacent modules. The details of each system will be described using the following figures. It is understood that the number of modules per system is given only as an example. The number of modules is mainly defined as a function of the maximum angular deflection that it is desired to obtain globally for the joint concerned from the deflection of each module. Figure 5 shows in more detail a hinge 65 forming the hip of the exoskeleton 60. The hinge 65 comprises four modules 71, 72, 73 and 74 all similar to the module 10 described above. The four modules are connected in series between the upper part 62 and an intermediate piece 75 of the exoskeleton 60 disposed downstream of the hip 65 and upstream of the knee 66. The module 71 has an upstream vertebra 77 secured to the upper part 62 and a swallow vertebra 78 forming the upstream vertebra of the module 72. The module 72 has a swallow vertebra 79 forming the upstream vertebra 25 of the module 73. The module 73 has a swallow vertebra 80 forming the upstream vertebra of the module 74 which has a vertebra avale 81 integral with the intermediate piece 75 intended to be positioned along one of the thighs of the person 61. It is possible to provide one or more straps for attaching the intermediate piece 75 to the thigh 30 concerned. Each of the modules 71, 72, 73 and 74 has two jacks called the reference of the module concerned followed by a letter a or b. In a particular position of the exoskeleton 60, for example when the person 61 is stationary and standing, his legs being vertical, the axes 35 of the jacks 71a to 74a are all parallel and the axes of the jacks 71b to 74b are also all parallel. This position can be obtained when the planes in which the various vertebrae extend are all parallel. To illustrate this parallelism, it can be obtained when the planes 13 and 14, visible in Figure 1, are parallel and this for all modules of the same joint. The movement of the jacks 71a to 74a all contribute to the same overall rotation of the hip 65, in the example represented a rotation in a frontal plane of the exoskeleton 60. Similarly, the movement of the jacks 71b to 74b all contribute to a same overall rotation of the hip 65, a rotation in a sagittal plane of the exoskeleton 60. Even if each of the modules 71 to 74 has only a moderate deflection, the serialization of several modules in a configuration where the axes of the cylinders of the different modules are parallel in groups allows to keep rotation without torsion of the joint. Alternatively, it is possible to arrange the cylinders in such a way that they do not obtain such a parallelism in order to generate a torsion of the articulation 65. Advantageously, the articulation 65 furthermore comprises control means common to the first cylinders 71a to 74a and the second jacks 71b to 74b of the various modules 71 to 74. It is possible to animate the hip of a third rotation in a horizontal plane of the exoskeleton 60. For this purpose, the upstream vertebra 77 of the module 71 can be connected to the upper portion 62 by a pivot connection of vertical axis 85. A jack 86 can motorize this pivot connection. Figure 6 shows in more detail the knee 66 of the exoskeleton 60. The knee 66 comprises three modules 91, 92 and 93, all similar. The three modules 91, 92 and 93 comprise only one jack each and therefore only two rods per module, the two rods being associated with the cylinder module considered. The three modules 91, 92 and 93 are connected in series between the intermediate piece 75 and another intermediate piece 95 of the exoskeleton 60 disposed downstream of the knee 66 and upstream of the ankle 67. The intermediate piece 95 is intended to be positioned along one of the calves of the person 61. It is possible to provide one or more straps for attaching the intermediate piece 75 to the affected calf.
    [0010] The module 91 has an upstream vertebra 97 secured to the intermediate piece 75 and a downstream vertebra 98 forming the upstream vertebra of the module 92. The module 92 has a downstream vertebra 99 forming the upstream vertebra of the module 93 which has a swallow vertebra 100 secured to the intermediate piece 95. Each of the modules 91, 92 and 93 has a cylinder respectively 91a, 92a and 93a. As for the hip, 65, in a particular position of the knee 66, the axes of the cylinders 91a, 92a and 93a are all parallel. The movements of the cylinders 91a, 92a and 93a all contribute to the same overall rotation of the knee 66, in the example shown a rotation in a sagittal plane of the exoskeleton 60. Although each of the modules 91, 92 and 93 has that a moderate deflection, the series setting of several modules in a configuration where the axes of the cylinders of the different modules are parallel keeps a rotation without torsion of the joint. Alternatively, it is possible to arrange the cylinders in such a way that they do not obtain such parallelism in order to generate a torsion of the hinge 66. The body of each jack 91a, 92a and 93a is connected to an upstream vertebra by a link pivot and by another pivot connection to a vertebra swallows. Advantageously, the same common pivot connection connects a vertebra common to two adjacent modules and the body of the cylinders of the two adjacent modules. For example, a pivot connection 102 connects the vertebra 98, the cylinder body 91a and the cylinder body 92a. The realization of the joint pivot joint 102 may be similar to the realization of the links 30 and 50. In each of the modules 91, 92 and 93, there is, as for the module 10, two rods associated with each cylinder 91a, 92a and 93a. The rods carry, in Figure 6, the reference of the module followed by one of two letters b and c for each of the two rods. Advantageously, the same common pivot connection connects a vertebra common to two adjacent modules and the corresponding links. For example, the same pivot link 103 connects the vertebra 98, and the rods 91c and 92b.
    [0011] Advantageously, the hinge 66 further comprises control means common to the first cylinders 91a to 93a of the various modules 91 to 93. These common pivot connections make it possible to simplify the articulation 66 and to reduce its dimensions, in particular its height, defined when the exoskeleton 60 is standing up.
    权利要求:
    Claims (11)
    [0001]
    REVENDICATIONS1. Motorized articulated module (10; 71 to 74; 91 to 93) comprising two movable elements (11, 12; 77 to 81; 97 to 100), relative to one another, characterized in that it comprises in furthermore: - a first linear jack (15; 71a to 74a; 91a to 93a) allowing the motorization of the module and comprising a body (16) and a rod (17) able to move in translation relative to the body (16) according to an axis (18), the body (16) of the first cylinder being connected to each of the two elements by means of a connection (21, 22; 102) to at least one degree of freedom in rotation, - two links (24, 25; 91b, 91c, 92b, 92c, 93b, 93c) associated with the first jack, each connected to a first (27, 29) of their ends to the rod (17) of the first jack by means of a link (30) a degree of freedom in rotation, a second end (26) of a first (24) of the two links being connected to the first (11; 98) of the two elements by means of a connection (31; at least one rotational degree of freedom, one second end (28) of one second (25) of the two links being connected to the second (12) of the two elements by means of a connection (32) to at least one degree of freedom in rotation.
    [0002]
    2. Articulated module according to claim 1, characterized in that it further comprises: - a second linear jack (35) for motorization of the module and comprising a body (36) and a rod (37) adapted to move in translation with respect to the body along an axis (38), the axis of the second cylinder (35) being distinct from the axis (18) of the first cylinder (15), the body (36) of the second cylinder (35) being integral of the body (16) of the first jack (15), the bodies (16, 36) of the two cylinders (15, 35) being connected to each of the two elements (11, 12) by means of a connection (21, 22) at least two rotational degrees of freedom, - two links (44, 45) associated with the second cylinder (35), each connected to a first (47, 49) of their ends to the rod (37) of the second cylinder (35, 45). ) by means of a connection (50) to a rotational degree of freedom, a second end (46) of a first (44) of the two links being connected to the first (11) of the two elements by means of a a link (51) has two degrees of freedom of rotation, a second end (48) of a second (45) of the two links being connected to the second (12) of the two elements by means of a connection (52) with two degrees free rotation, in that the second end (26) of the first rod (24) associated with the first jack (15) is connected to the first (11) of the two elements by means of a connection (31) to at least two rotational degrees of freedom, and in that the second end (28) of the second link (25) associated with the first ram (15) is connected to the second (12) of the two elements by means of a link (32). ) at least two degrees of freedom in rotation.
    [0003]
    3. Articulated module according to one of the preceding claims, characterized in that the links (24, 25; 91b, 91c, 92b, 92c, 93b, 93c) are articulated relative to the rod (17, 37) of their jack respectively (15, 35, 71a to 74a, 91a to 93a) by means of the same pivot connection (30, 50).
    [0004]
    4. Articulation (65, 66) comprising several articulated modules (71 to 74; 91 to 93) according to one of the preceding claims, characterized in that a movable element (78, 79, 80; 98, 99) is common to two adjacent modules.
    [0005]
    5. Articulation according to claim 4, characterized in that in a particular position of the articulation (65, 66), the axes (18) of the first cylinders (71a to 74a, 91a to 93a) of each of the modules (71 to 74; 91 25-93) are parallel.
    [0006]
    6. Articulation according to claim 5, as dependent claim of claim 2, characterized in that in a particular position of the articulation (65), the axes of the second cylinders (71b to 74b) of each of the modules ( 71 to 74) are parallel.
    [0007]
    7. Articulation according to claim 5, characterized in that the modules (91 to 93) each have only one jack (91a to 93a), in that for each module (91 to 93), the cylinder body ( 91a-93a) is connected to each of the two members (97, 100) by means of a pivot connection (102) and that the same common pivot connection (102) connects a common movable member (98) to two modules adjacent (91, 92) and the cylinder bodies (91a, 92a) of the two adjacent modules (91, 92).
    [0008]
    8. Articulation according to any one of claims 5 or 7, characterized in that the modules (91 to 93) each have only one jack (91a to 93a), in that in each module (91 to 93) the links (91b to 93b, 91c to 93c) are connected to the corresponding elements (97 to 100) by means of a pivot connection (103) and in that a common pivot connection (103) connects a movable element (98) ) common to two adjacent modules (91, 92) and the rods (91c, 92b) corresponding.
    [0009]
    9. Articulation (65, 66) according to any one of claims 4 to 8, characterized in that it further comprises control means 15 common to the first cylinders (71a to 74a, 91a to 93a) of the various modules ( 71 to 74, 91 to 93).
    [0010]
    10. Articulation (65) according to any one of claims 4 to 9, as a dependent claim of claim 2, characterized in that it further comprises control means common to the second cylinders (71b to 74b) different modules (71 to 74).
    [0011]
    11. Exoskeleton, characterized in that it comprises two joints (65) according to one of claims 4 to 10 as claim dependent on claim 2 intended to accompany each movement of a hip of a person ( 61) and two joints (66) according to one of claims 4 to 10 intended to accompany each movement of a knee of the person (61).
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    同族专利:
    公开号 | 公开日
    US20170080559A1|2017-03-23|
    US10377036B2|2019-08-13|
    WO2015078981A1|2015-06-04|
    EP3074189A1|2016-10-05|
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    FR3013586B1|2016-02-05|
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    JP2017148885A|2016-02-23|2017-08-31|株式会社ジェイテクト|Robot arm|JP6067805B1|2015-09-07|2017-01-25|Ntn株式会社|Combined work device using link actuator|
    DE102016122282A1|2016-11-18|2018-05-24|Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg|SYSTEM AND METHOD FOR REDUCING FORCES AFFORDING ON A SPINE|
    US11135119B2|2017-04-21|2021-10-05|Board Of Regents, The University Of Texas System|Adaptable robotic gait trainer|
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    法律状态:
    2015-10-23| PLFP| Fee payment|Year of fee payment: 3 |
    2016-10-28| PLFP| Fee payment|Year of fee payment: 4 |
    2017-10-26| PLFP| Fee payment|Year of fee payment: 5 |
    2018-10-26| PLFP| Fee payment|Year of fee payment: 6 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200914 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1361672A|FR3013586B1|2013-11-27|2013-11-27|ARTICULATED MOTORIZED MODULE, JOINT COMPRISING MULTIPLE MODULES AND EXOSQUELET COMPRISING SEVERAL ARTICULATIONS|FR1361672A| FR3013586B1|2013-11-27|2013-11-27|ARTICULATED MOTORIZED MODULE, JOINT COMPRISING MULTIPLE MODULES AND EXOSQUELET COMPRISING SEVERAL ARTICULATIONS|
    US15/039,782| US10377036B2|2013-11-27|2014-11-27|Motor-driven articulated module, articulation including several modules, and exoskeleton including several articulations|
    EP14802923.4A| EP3074189B1|2013-11-27|2014-11-27|Motor-driven articulated module, articulation including several modules, and exoskeleton including several articulations|
    PCT/EP2014/075841| WO2015078981A1|2013-11-27|2014-11-27|Motor-driven articulated module, articulation including several modules, and exoskeleton including several articulations|
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