A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

Disclosed is a mechanical teleoperated device comprising i) a handle (30) placed in a proximal part of the device, having a plurality of handle links interconnected by respective handle joints, ii) an end effector (31) placed in a distal part of the device, having a plurality of end-effector links interconnected by respective end-effector joints, iii) a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising at least one arrangement of a plurality of rotatable elements (41a-d) coaxially mounted together about an axis and arranged to rotate independently from each other, b) first transmission means comprising driving elements (62a-c) which are arranged to actuate in rotation of the plurality of rotatable elements (41a-d) based upon movements of the handle, c) second transmission means comprising driven elements (63a-c) which are arranged to be driven by rotation of the plurality of rotatable elements resulting in movement of the end effector links, wherein the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element is removably coupled to one corresponding rotatable element.

Disclosed is a support device (100) and method for supplying supportive forces to a set of links in a main assembly (1). These links (1.A.1, 1.A.2, 1.A.3, 1.A.4) are connected to an assistive assembly (3), which is designed to be a representation of the main assembly (1), and the connection is used to maintain the representation, so that displacements and forces in the main assembly (1) result in displacements and forces in the assistive assembly (3), and the other way around. There are further force regulator units (3.E.1, 3.E.2) included in the assistive assembly (3), that apply forces on the assistive assembly (3) and through the connection thus also on the main assembly (1), but whose weight is not felt by the main assembly (1). These forces can be used to provide supportive or compensation forces to the main assembly (1), so the main assembly (1) can be a wearable exoskeleton that provides forces to support human wearers, or it can be an industrial robotic manipulator that appears weightless and whose payload is compensated.

A system and method for argon and nitrogen extraction from a feed stream comprising hydrogen, methane, nitrogen and argon, such as tail gas of an ammonia production plant is provided. The disclosed system and method provides for nitrogen-argon rectification and the methane rejection within a column system comprised of at least one distillation column. Nitrogen and argon are further separated and to produce liquid products. An argon stripping column arrangement is disclosed where residual argon is further removed from the methane-rich fuel gas and recycled back to the feed stream.

A camera for observing an inside of a shielded cell including a support including a spring in a form of a gripper for mounting it on a remote-manipulation arm performing a task to be observed, by another arm, exerting solely a force for opening branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop mechanism provides a correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by another remote-manipulation mechanism.

A camera for observing an inside of a shielded cell including a support including a spring in a form of a gripper for mounting it on a remote-manipulation arm performing a task to be observed, by another arm, exerting solely a force for opening branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop mechanism provides a correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by another remote-manipulation mechanism.

A mechanical teleoperated device for remote manipulation is provided that is primarily intended for use in minimally invasive surgery. The device generally comprises a slave unit having a number of slave links interconnected by a plurality of slave joints, an end-effector connected to the distal end of the slave unit, a master unit having a corresponding number of master links interconnected by a plurality of master joints, and a handle connected to the distal end of the master unit for operating the mechanical teleoperated device. The device further comprises mechanical transmission means arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave unit. In addition, the mechanical teleoperated device comprises improved kinematics and an improved arrangement of mechanical constraints, allowing for improved positioning of the device over a patient, increased workspace inside the patient and ease of workflow in an operating room.

A transmission device with multiple degrees of freedom includes a first platform, a second platform, a fixing platform, first branch chains, second branch chains and transmission assemblies. The first branch chains, the first platform (10) and the fixing platform form a first multiple degrees of freedom parallel mechanism having an output end. The second branch chains, the second platform and the fixing platform form a second multiple degrees of freedom parallel mechanism having an input end. A structure of the second branch chain is similar to a structure of the first branch chain, and a size of the second branch chain is enlarged or reduced in proportion to that of the first branch chain. The transmission assemblies are configured to couple the output end to the input end.

A transmission device with multiple degrees of freedom includes a first platform, a second platform, a fixing platform, first branch chains, second branch chains and transmission assemblies. The first branch chains, the first platform (10) and the fixing platform form a first multiple degrees of freedom parallel mechanism having an output end. The second branch chains, the second platform and the fixing platform form a second multiple degrees of freedom parallel mechanism having an input end. A structure of the second branch chain is similar to a structure of the first branch chain, and a size of the second branch chain is enlarged or reduced in proportion to that of the first branch chain. The transmission assemblies are configured to couple the output end to the input end.

A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.