Register information Patent

WO file number: PCT/EP2021/053124 (Status: not pending/lapsed, Query started: June 6, 2025)

Please note: This English version is a non-binding translation of the German register excerpt. Only the German version of the register excerpt is legally binding.

Master data
INIDCriterionFieldContent
Type of IP rightSARTPatent
StatusSTNot pending/lapsed
86WO file numberWAKZPCT/EP2021/053124
87WO publication numberWPN2021165105
54Designation/titleTISTEUERUNG EINES ROBOTERMANIPULATORS BEI KONTAKT MIT EINER PERSON
51IPC main classICM
(ICMV)		 B25J 9/16 (2006.01)
51IPC secondary class(es)ICS
(ICSV)		 G05B 19/406 (2006.01)
86WO application dateWATFeb 10, 2021
72InventorINInventor not yet named
66
66
Domestic priorityPRN
PRD
10 2020 104 364.3
Feb 19, 2020
Patent division in charge 13
87WO language of publicationWLANGDE - Deutsch
57AbstractABDie Erfindung betrifft ein Verfahren zum Steuern eines Robotermanipulators (1), aufweisend die Schritte: - Bereitstellen (S1) einer Datenbank mit Körperzonen einer Person, wobei jeder der Körperzonen ein jeweiliger höchst zulässiger Wert von Kontaktdruck zugeordnet ist, - Ermitteln (S2) eines aktuellen oder zukünftigen Kontaktereignisses des Robotermanipulators (1) mit der Person und Ermitteln der kontaktierten Körperzone der Person, - Ermitteln (S3) einer relativ zur Person körperfesten Referenzposition, wobei die Referenzposition den Beginn des örtlichen Verlaufs des Eindrückens von Gewebe der Person bei dem Kontaktereignis mit der Person angibt, und - impedanzgeregeltes Ansteuern (S4) des Robotermanipulators (1) so, dass die ermittelte Referenzposition als Nullstellung einer künstlichen Federkomponente der Impedanzregelung des Robotermanipulators (1) dient und der höchstzulässige Kontaktdruck als Grenzwert nicht überschritten wird.
81Designated WO countriesWDSAE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, IT, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, WS, ZA, ZM, ZW
Published EP/WO documentsEPWOPNOriginal document: WO2021165105A1
Searchable text: WO2021165105A1
43Date of first publicationEVTAug 26, 2021
Date of the first transfer into DPMAregisterEREGTAug 27, 2021
Date of the (most recent) update in DPMAregisterREGTOct 19, 2022
(Show all update days)(Hide all update days)
  • Oct 19, 2022
    • Historical data not available for this/these date(s)
  • Aug 27, 2021
    • Date of the first transfer into DPMAregister
Procedural data
No.Kind of procedureLegal statusDate of legal/procedural statusPublication dateAlle Details anzeigen
1 Pre-registration procedure The application is under preliminary examination Feb 10, 2021  Details anzeigen
2 Search procedure Request for search effectively filed Feb 10, 2021  Details anzeigen
3 Procedure relating to PCT application WO first publication with search report Aug 26, 2021  Details anzeigen
4 Procedure relating to PCT application Ceased to have effect for DE Sep 20, 2022  Details anzeigen
View procedures Pre-registration procedure (No.: 1)
INIDCriterionFieldContent Close details
Type of procedureVARTPre-registration procedure
Legal/procedural statusVSTThe application is under preliminary examination
Date of legal/procedural statusVSTTFeb 10, 2021
Date of update of the procedureREGTAug 27, 2021
View procedures Search procedure (No.: 2)
INIDCriterionFieldContent Close details
Type of procedureVARTSearch procedure
Legal/procedural statusVSTRequest for search effectively filed
Date of legal/procedural statusVSTTFeb 10, 2021
Third party request No
Date of receiptAEGTFeb 10, 2021
Date of update of the procedureREGTAug 27, 2021
View procedures Procedure relating to PCT application (No.: 3)
INIDCriterionFieldContent Close details
Type of procedureVARTProcedure relating to PCT application
Legal/procedural statusVSTWO first publication with search report
Date of legal/procedural statusVSTTAug 26, 2021
Date of update of the procedureREGTAug 27, 2021
View procedures Procedure relating to PCT application (No.: 4)
INIDCriterionFieldContent Close details
Type of procedureVARTProcedure relating to PCT application
Legal/procedural statusVSTCeased to have effect for DE
Date of legal/procedural statusVSTTSep 20, 2022
Date of update of the procedureREGTOct 19, 2022