DISPOSITIF ROBOTISE D'ASSISTANCE A LA MANIPULATION A RAPPORT D'AUGMENTATION D'EFFORT VARIABLE

摘要

A robotic device for providing assistance in manipulation, including a base having a movable segment mounted thereon in association with a motor-drive mechanism connected to a control unit. The segment having an end portion provided with a member for holding an element to be manipulated and a handle for enabling the end portion to be manipulated by an operator. The control unit is connected to a detection mechanism for detecting an external force applied on the end portion and arranged to control the motor-drive mechanism as a function of an amplification factor for amplifying the detected force and servo-control gains. 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 the amplification factor and the servo-control gains as a function of the detected grip force.