ROBOTISCHES MANNEQUIN

Description

TECHNICAL FIELD OF THE INVENTION

[0001] The invention relates to the field of robotic mannequins. It finds particularly advantageous application in the field of sewing and the production of clothing. STATE OF THE ART

[0002] For several years now, robotic mannequins have been emerging. These mannequins are intended for the textile industry and are configured to present at least some of their body shapes.

[0003] For example, we will note mannequins whose certain parts are more or less inflatable in order to enlarge the mannequin more or less and thus have several morphologies on the same mannequin.

[0004] These robotic mannequins thus make it possible to reproduce at least some of an individual's measurements with varying degrees of accuracy. This is made possible by mechanical parts with relative mobility.

[0005] However, one of the main drawbacks of these technologies lies in the continuity of the mannequins' deformations and the resulting body harmony. Indeed, these discontinuities in the mannequin's morphology lead to significant problems when making clothes.

[0006] Indeed, it is complex, even impossible, by adjusting the position of mobile elements forming the surface of the mannequin, to reproduce the harmony of the curves of a human body.

[0007] We can cite patent applications US2005399 and US1102596 which disclose a mannequin comprising a plurality of elements movable from a central vertical rod animated in rotation. But the mannequin is complex and not sufficiently precise. We can also cite patent applications US2007 / 275632 and CN105919202 which disclose a mannequin comprising several moving parts movable by several respective actuators. But such a mannequin does not allow to obtain a morphologically harmonious geometry.

[0008] An object of the present invention is therefore to propose a solution to these problems.

[0009] Other objects, features, and advantages of the present invention will become apparent from the following description and accompanying drawings. It is understood that other advantages may be incorporated. SUMMARY OF THE INVENTION

[0010] One aspect of the invention relates to a robotic mannequin having a longitudinal dimension extending along a longitudinal axis corresponding to a height dimension of an individual and comprising at least one frame and a plurality of shells extending over at least a portion of said frame and being movable relative to said frame, said robotic mannequin being capable of reproducing on demand at least in part the morphology of an individual by mechanical control of the plurality of shells, the robotic mannequin being characterized in that: the plurality of shells has at least one set of articulated shells comprising at least a first shell and a second shell, wherein said first shell and said second shell are kinematically coupled to each other through at least a first kinematic link; said first kinematic link has at least one degree of freedom along a first axis of rotation; It comprises at least a first actuator configured to apply a translational movement, along a first translational axis orthogonal to the first axis of rotation, to at least one of at least: the first shell, the second shell, the first kinematic link; and at least a second actuator configured to apply a translational movement along the first translational axis to at least one of at least: the first shell, the second shell, the first kinematic link.

[0011] The present invention makes it possible to harmonize the surface topography of the robotic mannequin. This makes it possible to more skillfully control the morphology of the robotic mannequin. That is, the present invention makes it possible to harmonize the adaptive morphology of the robotic mannequin. The kinematic coupling between several shells makes it possible to move several shells simultaneously and according to degrees of freedom allowing a harmonious movement of the surface of the robotic mannequin relative to the human morphology.

[0012] The present invention allows multi-shell movement in order to achieve human morphologies.

[0013] By arranging and allocating the degrees of freedom adapted to each kinematic link, the present invention makes it possible to easily reproduce with the robotic mannequin the morphology of an individual during weight gain or weight loss.

[0014] Another aspect of the invention relates to a system comprising at least one robotic mannequin and at least one electronic circuit for controlling the first actuator of said robotic mannequin, said electronic control circuit receiving control commands from at least one computer program product comprising instructions, which when carried out by at least one processor, sends a series of control commands to said electronic control circuit. BRIEF DESCRIPTION OF THE FIGURES

[0015] The aims, objects, as well as the characteristics and advantages of the invention will emerge more clearly from the detailed description of an embodiment thereof which is illustrated by the following accompanying drawings in which: There Figure 1 represents a schematic view of a robotic mannequin according to an embodiment of the present invention. The Figure 2represents a sectional and profile view along the longitudinal axis of the robotic mannequin according to an embodiment of the present invention. The Figure 3 represents an enlargement of the sectional view of the Figure 2 . There Figure 4 represents an enlargement of the sectional view of the Figure 2 . There Figure 5 represents a schematic view of a kinematic connection mechanically coupling two hulls according to an embodiment of the present invention. The Figure 6 represents a schematic view of a kinematic connection mechanically coupling two hulls according to another embodiment of the present invention. The Figure 7 represents a schematic view of a kinematic connection mechanically coupling two hulls according to another embodiment of the present invention. The figure 8 represents a schematic view of two kinematic links mechanically coupling three hulls according to an embodiment of the present invention. The figure 9 represents a schematic view of two kinematic links mechanically coupling three hulls according to an embodiment of the present invention. The Figure 10 represents a schematic view of two kinematic links mechanically coupling three hulls according to an embodiment of the present invention.

[0016] The drawings are given by way of example and are not limiting of the invention. They constitute schematic representations of principle intended to facilitate the understanding of the invention and are not necessarily to the scale of practical applications. DETAILED DESCRIPTION

[0017] Before commencing a detailed review of embodiments of the invention, optional features are set forth below which may optionally be used in combination or alternatively. The present invention makes it possible to harmonize the adaptive morphology of the robotic mannequin. The kinematic coupling between several shells makes it possible to move several shells simultaneously and according to degrees of freedom allowing a harmonious movement of the surface of the robotic mannequin relative to the human morphology. The multi-shell movement makes it possible to produce human morphologies. By arranging and allocating the degrees of freedom adapted to each kinematic connection, this makes it possible to easily reproduce with the robotic mannequin the morphology of an individual during weight gain or weight loss. the first translation axis 211 is carried by a plane transverse to the longitudinal axis 12, and the first rotation axis 212 is carried by a plane transverse to the longitudinal axis 12.the first 110 and the second 120 shell are configured to vary the transverse dimension of the external surface of the robotic dummy 10 in at least one plane transverse to the longitudinal axis 12. the first actuator 310 is configured to apply said translational movement only along the first translation axis 211. the first kinematic link 210 comprises a pivot link 214 between the first 110 and the second 120 shells, said pivot link 214 being rotatable about the first axis of rotation 212. This makes it possible to kinematically link about an axis of rotation the movement of the first shell with that of the second shell and vice versa. the first kinematic link 210 has a second degree of freedom along a second translation axis 211, 213 orthogonal to the first axis of rotation 212. This makes it possible to have a greater number of degrees of freedom in the movement of the shells.The first kinematic link comprises a sliding pivot link 215 between the first 110 and the second shells 120, said sliding pivot link 215 being movable in rotation about the first axis of rotation 212 and in translation along the second axis of translation 211, 213. This makes it possible to kinematically link about an axis of rotation and along an axis of translation the movement of the first shell with that of the second shell and vice versa. The plurality of shells defines in part at least a continuous kinematic chain extending over at least a part of the trunk of the robotic mannequin 10. This makes it possible to easily control a set of shells by controlling only certain points of the kinematic chain. At least one of the first shell 110 and the second shell 120 is mechanically coupled to the frame 11 of the robotic mannequin 10 through at least one pivot connection 15 having at least one degree of freedom in rotation around the first axis of rotation 212.This makes it possible to define a limit to the movement of the end of a kinematic chain for example. The first kinematic link 210 is an elastic link comprising a first return element. This makes it possible to have numerous degrees of freedom. The set of articulated shells comprises at least a third shell 130 kinematically coupled to at least one of the first 110 and the second 120 shells through at least a second kinematic link 220. This makes it possible to improve the resemblance between the morphology of the robotic mannequin and that of humans. The second kinematic link 220 comprises a number of degrees of freedom less than or equal to the number of degrees of freedom of the first kinematic link 210. The second kinematic link 220 has a single degree of freedom along the first axis of rotation 212. This makes it possible to have a fixed point in translation along an axis parallel to the longitudinal axis of the robotic mannequin.The first kinematic connection 210 and the second kinematic connection 220 are arranged on either side of the first actuator 310. The second kinematic connection 220 is an elastic connection comprising a second return element.Said set of articulated shells comprises a third 130 and a fourth 140 shell, the third shell 130 being kinematically coupled to the second shell 120 by at least one second kinematic link 220 and the fourth shell 140 being kinematically coupled to the third shell 130 by at least one third kinematic link 230 in which the first 210 and the third 230 kinematic links have the same number of degrees of freedom, and preferably the same degrees of freedom, and in which the second kinematic link 220 has a number of degrees of freedom lower than the number of degrees of freedom of the first 210 and the third 230 kinematic link and in which the first 210 and the third 230 kinematic link are arranged on either side of the second kinematic link 220. The second kinematic link 220 is arranged at the waist of the robotic mannequin 10.The set of articulated shells extends primarily along the longitudinal axis 12 of the robotic mannequin 10. The robotic mannequin 10 comprises a plurality of juxtaposed sets of articulated shells. At least two sets of articulated shells of the plurality of sets of articulated shells are kinematically coupled to each other. The robotic mannequin 10 comprises at least one actuator 310, 320, 330, 340, 350, 360, 370, 380, 390, 395 configured to apply at least one translational movement to at least one shell 110, 120, 130, 140, 150, 160, 170.

[0018] The present invention relates to a robotic mannequin comprising a frame and at least a plurality of shells extending over at least a portion of the frame and at least some of which are movable relative to the frame. This mobility thus makes it possible to modify the morphology of the robotic mannequin.

[0019] Cleverly, and in order to reproduce the harmony of the human silhouette, at least some of the shells are kinematically coupled together by one or more kinematic links which will be described in more detail later.

[0020] According to a preferred embodiment, at least a portion of the plurality of shells forms a continuous kinematic chain in which each shell is kinematically coupled to at least one other shell by one or more kinematic links. These are then referred to as sets of articulated shells.

[0021] Thus, cleverly, the robotic mannequin comprises one and preferably a plurality of sets of articulated shells.

[0022] The present invention makes it possible, via a kinematic coupling between several shells, to adjust a plurality of shells by moving, for example, a single actuator applying a displacement movement typically on a shell or on a kinematic link.

[0023] A kinematic coupling is understood to mean a mechanical coupling allowing the transfer of at least part of a displacement in space between a first element and a second element.

[0024] The present invention will now be described according to several embodiments through the figures 1 to 10 .

[0025] There Figure 1 represents a schematic and general view of a robotic mannequin 10 according to an embodiment of the present invention.

[0026] This robotic mannequin 10 comprises at least one frame 11 preferably extending along the longitudinal axis 12 of the robotic mannequin 10 and preferably configured to carry at least in part, preferably in full, a plurality of shells.

[0027] In the figures described, the longitudinal axis 12 of the robotic mannequin 10 is parallel to the z axis, the transverse axis 13 of the robotic mannequin 10 is parallel to the x axis and finally the anteroposterior axis 14 of the robotic mannequin 10 is parallel to the y axis.

[0028] In this example, the mannequin comprises six sets of shells, these sets being juxtaposed in x following the z direction, with for this example, three front sets and three rear sets, respectively representing a stop zone and a back zone of the mannequin. Still as an example, the Figure 1shows sets of four shells articulated in series along the z-axis. Two shoulder shells complete these sets and provide height adjustment.

[0029] There Figure 2 represents a sectional view along the YZ plane of a robotic mannequin 10 according to an embodiment of the present invention.

[0030] This figure schematically represents the interior of the robotic mannequin 10. Note a plurality of shells (110, 120, 130, 140, 150, 160, 170, 180) movable relative to the frame 11, as well as a plurality of actuators (310, 320, 330, 340, 350, 360, 370, 380, 390, 395) configured to move said plurality of shells (110, 120, 130, 140, 150, 160, 170, 180). Thus, for example, the seventh actuator 370 is configured to move the sixth shell 160.

[0031] It will be noted in this figure that the robotic mannequin 10 has the capacity to have its morphology modified both on its front part, but also on its rear part.

[0032] Preferably, the entire morphology of the robotic mannequin is modifiable.

[0033] Also illustrated in this figure are a plurality of kinematic links (210, 220, 230) kinematically coupling together a portion of the plurality of shells.

[0034] Some connections are detailed in figures 3 And 4 . Generally speaking, the games represented in Figure 2 (front and rear) each have four hulls. The kinematic connections between hulls can be divided as follows: the link 220, near the actuator 330 can be located at waist level and is very little movable along z. It is preferably a pivot; upwards, the link 210 releases an additional translation to allow a height clearance to the two shells above the point 220; downwards, a link 230 provides a function similar to that of the link 210, but below the link 220; the size is adjustable by the actuator 330; a pair of actuators 310, 320, drive the upper shell, allows an adjustable inclination of the latter, by varying the translational movements of the rod of the actuators; symmetrically, a pair of actuators 340, 3502 modifies the inclination and the lateral amplitude of the lower shell, shell 140; an intermediate shell, here shell 130 is not directly driven by any actuator; similar arrangements to the previous ones (for the front) are made for the back of the mannequin.

[0035] There Figure 3 represents an enlargement of a part of the Figure 2 . In this figure, the first shell 110 is kinematically coupled to the second shell 120 through the first kinematic link 210.

[0036] Advantageously, this first kinematic link 210 comprises a sliding pivot link 215 configured to move in a slide 216. Cleverly, when the second actuator 320 drives (preferably pushes forward or pulls backward along the anteroposterior axis 14 of the robotic mannequin 10) the first shell 110, this first kinematic link 210 is configured so that the second shell 120 is also driven in movement.

[0037] Advantageously, this first kinematic link 210 comprises at least two degrees of freedom. Preferably, this first kinematic link 210 comprises a first degree of freedom along the first axis of rotation 212 of the sliding pivot link 215. This axis of rotation 212 is preferably parallel to the transverse axis 14 of the robotic mannequin 10, i.e. parallel to the x axis.

[0038] Advantageously, and generally, the actuators (310, 320, 330, 340, 350, 360, 370, 380, 390, 395) each apply at least one translational movement along a translational axis carried by a plane transverse to the longitudinal axis 12, that is to say by a plane parallel to the XY plane.

[0039] According to one embodiment, this first kinematic connection 210 comprises a second degree of freedom along an axis parallel to the longitudinal axis 12, i.e. parallel to the Z axis. This degree of freedom corresponds to the sliding of the sliding pivot 215 in the slide 216. Preferably, the sliding of the sliding pivot 215 in the slide 216 comprises a non-zero component along an axis parallel to the longitudinal axis 12.

[0040] According to another embodiment, the sliding of the sliding pivot 215 can be done along another translation axis.

[0041] Cleverly, it is in particular the combination of these two degrees of freedom which allows the kinematic coupling between the first shell 110 and the second shell 120 so as to allow a modification of the morphology of the robotic mannequin 10.

[0042] Thus when the first shell 110 is moved, part of its movement is transmitted to the second shell 120 by means of the first kinematic link 210 and vice versa.

[0043] This kinematic coupling allows the first shell 110 and the second shell 120 to present a surface, i.e. a topographic profile, which can be moved in the three directions of space.

[0044] According to one embodiment, as shown in the Figure 3 , the first kinematic connection 210 comprises a first part mechanically secured to the first shell 110 and preferably to the second actuator 320, and a second part mechanically secured to the second shell 120.

[0045] In this figure, we also notice the third actuator 330 configured to drive (preferably to push forward or to pull backward along the anteroposterior axis 14 of the robotic mannequin 10) the second shell 120. The second shell 120 is preferably kinematically coupled via the first kinematic link 210 with the first shell 110 so that the movement of the first shell 110 drives the second shell 120.

[0046] It will be noted that the kinematic coupling by the first kinematic link 210 transmits to the second shell 120 in part at least certain components of the displacement of the first shell 110 convolved with the degrees of freedom of the first kinematic link 210.

[0047] In this figure, and according to a preferred embodiment, the third actuator 330 is mechanically secured to the second shell 120 via a pivot connection 214.

[0048] Preferably, the thrust transmission area between the actuator 330 and the shell 120 is located near the connection 220 to have a significant effect on the size of the dummy. It can be located in the lower quarter or even eighth of the height of the shell 120.

[0049] There Figure 4 represents an enlargement of a part of the Figure 2 . In this figure we find the second shell 120 kinematically coupled with the third shell 130 through the second kinematic link 220 comprising the pivot link 214. This pivot link 214 has, according to one embodiment, only a single degree of freedom in rotation around an axis parallel to the transverse axis 13 of the robotic mannequin, that is to say around an axis parallel to the x axis.

[0050] Advantageously, the third shell 130 is kinematically coupled with the fourth shell 140 through the third kinematic link 230. The third kinematic link 230 preferably comprises a sliding pivot link 215 configured to move in a slide 216.

[0051] According to a preferred embodiment, the third kinematic link 230 has the same technical characteristics and degrees of freedom as the first kinematic link 210.

[0052] Advantageously, the first 210 and the third 230 kinematic links comprise a number of degrees of freedom greater than the number of degrees of freedom comprised in the second kinematic link 220.

[0053] So, through the figures 3 And 4, it will be noted that the first 110, the second 120 and the third 130 shells form a continuous kinematic chain comprising at least three kinematic links (210, 220, 230), at least two of which comprise a sliding pivot link 215 and at least one comprising a simple pivot link 214. This continuous kinematic chain is then mobile relative to the frame 11 of the robotic mannequin 10 via the use of at least one actuator, preferably at least two actuators, and advantageously at least three actuators.

[0054] THE figures 5 to 10 described below represent non-limiting embodiments of the present invention. These are schematic representations of the kinematic coupling between two or three shells 110, 120, 130.

[0055] There Figure 5represents the kinematic coupling between two shells. In this figure, the first shell 110 is kinematically coupled to the second shell 120 through the first kinematic link 210.

[0056] As previously described, the first kinematic link 210 comprises at least two degrees of freedom, one in translation along the first translation axis 213 and one in rotation along the first rotation axis 212.

[0057] Preferably, the first kinematic connection 210 allows the first shell 110 and the second shell 120 to be movable in translation according to a displacement comprising a component along the first translation axis 211 and a component along the second translation axis 213.

[0058] Advantageously, the first translation axis 211 is parallel to the y axis and therefore to the anteroposterior axis 14 of the robotic mannequin 10, and the second translation axis 213 is parallel to the z axis and therefore to the longitudinal axis 12 of the robotic mannequin 10.

[0059] This figure also shows the movement 400 of the first actuator 310. According to one embodiment, the first actuator 310 is configured to produce a movement along the first translation axis 211.

[0060] Advantageously, the first actuator 310 comprises an arm movable in translation along the first translation axis 211 so as to push or pull the first shell 110 via a contact point 311 between the first actuator 310 and the first shell 110. This contact point 210 may or may not comprise a pivot.

[0061] In this figure, and by way of non-limiting example, the second shell 120 comprises a part mechanically secured to the first kinematic connection 210 and a part mechanically secured to the frame 11 through a mechanical coupling zone 15 to the frame 11. This mechanical coupling zone 15 may comprise a pivot, for example, defining a limit to the movement of the second shell 120.

[0062] There Figure 6 represents another embodiment of the present invention, compatible with the previous one, in which the first shell 110 is still kinematically coupled to the second shell 120 through the first kinematic link 210.

[0063] However, according to this embodiment, the first actuator 310 is mechanically integral with the first kinematic link 210 which is, here again, movable according to two degrees of freedom, one in rotation around the first axis of rotation 212 and the other in translation according to the second axis of translation 213. It will be noted that the application by the first actuator 310 of a translational movement according to the first axis of translation 211 causes, by means of the two degrees of freedom of the first kinematic link 210, the movement of the latter according to a translation according to the first axis of translation 211.

[0064] Thus, according to this embodiment, the first actuator 310 can pull or push the first kinematic link 210 thus driving the first 110 and the second 120 shells.

[0065] According to an embodiment not illustrated, the first actuator 310 can have mobility according to several degrees of freedom so as to allow the displacement of the first kinematic link 210 according to several degrees of freedom in addition to the previous ones cited in relation to this figure.

[0066] There Figure 7 represents another embodiment, similar to that of the Figure 5 The first actuator 310 is found in mechanical contact at the contact point 311 with the second shell 120. This second shell 120 is on the one hand mechanically coupled to the armature 11 at the mechanical coupling zone 15 and on the other hand kinematically coupled to the first shell 110 at the first kinematic connection 210.

[0067] Here again, the movement of the first actuator 310 along the y axis causes the movement of the first shell 110 according to a movement having a component along the y axis, as well as the movement of the first kinematic link 310 and of the first shell 110, both according to movements having components along the y axis.

[0068] There figure 8 depicts an embodiment of the present invention showing the first kinematic link 210 kinematically coupling the first shell 110 with the second shell 120 and the second kinematic link 220 kinematically coupling the second shell 120 with the third shell 130.

[0069] According to the illustrated example which is in no way limiting, the third shell 130 comprises a zone, preferably an end, of mechanical coupling 15 with the frame 11 of the robotic mannequin 10.

[0070] According to the figure 8, the first actuator 310 is arranged at the level of the second shell 120. When the first actuator 310 moves along the y axis for example, this causes the movement of the second shell 120 and by kinematic coupling with the first shell 110 and the third shell 130, the movement of the first 110 and the third 130 shells, this coupling being achieved by the first 210 and the second 220 kinematic links.

[0071] According to one embodiment, the first 210 and the second 220 kinematic links have the same number of degrees of freedom, and preferably the same types of degrees of freedom.

[0072] According to another embodiment, the first 210 and the second 220 kinematic links have different degrees of freedom.

[0073] There figure 9represents an embodiment of the present invention in which the first 110 and the third 130 shells each have a mechanical coupling zone 15 with the frame 11 of the robotic mannequin 10.

[0074] In this figure, the first actuator 310 is in contact with the first kinematic link 210, and the second actuator 320 is in contact with the second kinematic link 220. In a manner identical to the embodiments previously described, the movement along the y axis of the first 310 and second 320 actuators causes the movement of the first 110, second 120 and third 130 shells relative to the frame 11.

[0075] There Figure 10 represents an embodiment substantially similar to the previous one where the first 310 and second 320 actuators are arranged respectively in mechanical contact with the first 110 and the third 130 shells by means of contact points 311 and 321 respectively.

[0076] According to this embodiment, the second kinematic link 220 comprises a pivot link 214 and has a single degree of freedom. This single degree of freedom corresponds to a rotation around the first axis of rotation 212 parallel to the transverse axis 13 of the robotic mannequin 10. According to one embodiment, one or a plurality of kinematic links may be of an elastic nature and thus comprise at least one or more return elements. In particular, an elastic link, such as an elastomer ring, may provide such a connection.

[0077] According to one embodiment, the actuators may be mechanical, hydraulic, electrical and / or pneumatic. Preferably, their design is simplified by giving them only a translation function along a single axis, preferably in a plane perpendicular to the axis 12. The actuators are either in point support on the shells, or assembled with them, for example by a ball joint.

[0078] Cleverly, the present invention is not limited to a specific embodiment described in these figures. The present invention relates to any arrangement of shells kinematically coupled to each other by at least one kinematic connection.

[0079] Advantageously, the shells kinematically coupled to each other form sets of articulated shells. Thus, the robotic mannequin, according to one embodiment, is covered with sets of articulated shells, certain sets of shells being able, for example, also to be kinematically coupled to each other.

[0080] Generally, the kinematic links can be arranged between the hulls in a vertical or horizontal alignment.

[0081] Generally, one or more shells may have a mechanical coupling zone with the frame, this zone may or may not have one or more degrees of freedom.

[0082] Thus, the present invention makes it possible to simultaneously move several shells using a single actuator, for example, so that the movement of the shells remains harmonious with respect to the silhouette of the robotic mannequin.

[0083] The kinematic coupling of the shells improves the topology harmony of the robotic mannequin body.

[0084] This kinematic coupling allows for a humanization of the robotic mannequin's silhouette. In order to achieve morphological harmony, it is advantageous to kinematically couple the shells together in order to respect the natural harmony and thus bring the silhouette of the robotic mannequin closer to that of a human.

[0085] Finally, it should be noted that the present invention can be controlled via an electronic circuit and control software configured to control the relative movement of the shells in order to obtain a morphology desired by the user.

[0086] The invention is not limited to the embodiments previously described and extends to all embodiments covered by the claims. List of references

[0087] 10Robotic dummy 11Armature 12Longitudinal axis of the robotic dummy 13Transverse axis of the robotic dummy 14Anteroposterior axis of the robotic dummy 15Mechanical coupling zone to the armature 101Kinematic chain 110First shell 120Second shell 130Third shell 140Fourth shell 150Fifth shell 160Sixth shell 170Seventh shell 180Eighth shell 210First kinematic link 211First translation axis 212First rotation axis 213Second translation axis 214Pivot link 215Sliding pivot link 216Slide 220Second kinematic link 230Third kinematic link 310First actuator 311Point of contact of the first actuator 320Second actuator 321Contact point of the second actuator 330Third actuator 340Fourth actuator 350Fifth actuator 360Sixth actuator 370Seventh actuator 380Eighth actuator 390Ninth actuator 395Tenth actuator 400Displacement movement 401Displacement movement of the firstactuator 402Movement of displacement of the second actuator

Claims

1. A robot mannequin (10) having a longitudinal dimension extending along a longitudinal axis (12) corresponding to a height dimension of an individual and comprising at least one reinforcement (11) and a plurality of shells extending over at least one part of said reinforcement (11) and being movable with respect to said reinforcement (11), said robot mannequin (10) being able to reproduce on request at least partly the morphology of an individual by mechanically controlling the plurality of shells, the robot mannequin (10) being characterised in that: - the plurality of shells has at least one set of hinged shells comprising at least one first shell (110) and a second shell (120), wherein said first shell (110) and said second shell (120) are kinematically coupled to each other through at least one first kinematic connection (210); - said first kinematic connection (210) has at least one degree of freedom along a first axis of rotation (212); - It comprises at least one first actuator (310) configured to apply a translational movement, along a first axis of translation (211) orthogonal to the first axis of rotation, to at least one of at least one: the first shell (110), the second shell (120), the first kinematic connection (210); and at least one second actuator (320) configured to apply a translational movement along the first axis of translation (211) to at least one of at least one: the first shell (110), the second shell (120), the first kinematic connection (210).

2. The robot mannequin (10) according to the preceding claim, wherein the first axis of translation (211) is carried by a plane transverse to the longitudinal axis (12), and wherein the first axis of rotation (212) is carried by a plane transverse to the longitudinal axis (12) .

3. The robot mannequin (10) according to any of the preceding claims, wherein the first (110) and second (120) shells are configured to vary the transverse dimension of the outer surface of the robot mannequin (10) in at least one plane transverse to the longitudinal axis (12).

4. The robot mannequin (10) according to any of the preceding claims, wherein the first actuator (310) is configured to apply said translational movement only along the first axis of translation (211).

5. The robot mannequin (10) according to any of the preceding claims, wherein the first kinematic connection (210) comprises a pivot connection (214) between the first (110) and second (120) shells, said pivot connection (214) being rotatably movable about the first axis of rotation (212).

6. The robot mannequin (10) according to any of the preceding claims, wherein the first kinematic connection (210) has a second degree of freedom along a second axis of translation (211, 213) orthogonal to the first axis of rotation (212).

7. The robot mannequin (10) according to the preceding claim, wherein the first kinematic connection comprises a sliding pivot connection (215) between the first (110) and second (120) shells, said sliding pivot connection (215) being movable rotatably about the first axis of rotation (212) and translationally along the second axis of translation (211, 213).

8. The robot mannequin (10) according to any of the preceding claims, wherein the plurality of shells partly defines at least one continuous kinematic chain extending over at least one part of the trunk of the robot mannequin (10).

9. The robot mannequin (10) according to any of the preceding claims, wherein at least one of the first shell (110) and the second shell (120) is mechanically coupled to the reinforcement (11) of the robot mannequin (10) through at least one pivot connection (15) having at least one degree of freedom in rotation about the first axis of rotation (212).

10. The robot mannequin (10) according to any of the preceding claims, wherein the first kinematic connection (210) is an elastic connection comprising a first return element.

11. The robot mannequin (10) according to any of the preceding claims, wherein the set of hinged shells comprises at least one third shell (130) kinematically coupled to at least one of the first (110) and second (120) shells through at least one second kinematic connection (220).

12. The robot mannequin (10) according to any of the preceding claims, wherein said set of hinged shells comprises a third (130) and a fourth (140) shells, the third shell (130) being kinematically coupled to the second shell (120) by at least one second kinematic connection (220), and the fourth shell (140) being kinematically coupled to the third shell (130) by at least one third kinematic connection (230) wherein the first (210) and the third (230) kinematic connections have the same number of degrees of freedom, and preferably the same degrees of freedom, and wherein the second kinematic connection (220) has a number of degrees of freedom less than the number of degrees of freedom of the first (210) and third (230) kinematic connections, and wherein the first (210) and third (230) kinematic connections are disposed on either side of the second kinematic connection (220).

13. The robot mannequin (10) according to any of the preceding claims, comprising a plurality of sets of juxtaposed articulated shells.

14. The robot mannequin (10) according to the preceding claim, wherein at least two sets of hinged shells of the plurality of sets of hinged shells are kinematically coupled to each other.

15. A system comprising at least one robot mannequin (10) according to any of the preceding claims and at least one electronic control circuit for the first actuator (310) of said robot mannequin (10), said electronic control circuit receiving control commands from at least one computer program product comprising instructions, which when performed by at least one processor, sends a series of control commands to said electronic control circuit.