Patent ID: 9162358
Filing Date: 2015-10-20
Classification: B25J,B66C,B66D,G05B,Y10S

Abstract:
1. A robotic device for providing assistance in manipulation, the device comprising a base having a movable segment mounted thereon in association with a motor-drive connected to a control unit, the segment having an end portion provided with a member for holding an element that is to be manipulated and a handle mounted on a support attached to said end portion for enabling said end portion to be manipulated by an operator, wherein the control unit is connected to a first force sensor associated to the support for sensing force applied by the operator on said end portion and is arranged to control the motor-drive so as to amplify the force detected by said first force sensor as a function of a determined force amplification factor and of at least one determined servo-control gain; the control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify at least one of the amplification factor or the servo-control gain as a function of the detected grip force and wherein the control unit is connected to a second force sensor for sensing the force exerted by the element on said end portion and is arranged to verify whether said force exerted by the element on said end portion corresponds to the amplified force.