EP3009240 - ARTICULATION WITH CONTROLLABLE STIFFNESS AND FORCE-MEASURING DEVICE [Right-click to bookmark this link] | |||
Status | No opposition filed within time limit Status updated on 05.10.2018 Database last updated on 24.04.2024 |
||
Former | The patent has been granted Status updated on 27.10.2017 |
||
Former | Grant of patent is intended Status updated on 04.07.2017 |
||
Most recent event Tooltip | 17.07.2020 | Lapse of the patent in a contracting state New state(s): AL, IS |
published on 19.08.2020 [2020/34] |
Applicant(s) | For all designated states Consejo Superior De Investigaciones Científicas (CSIC) Serrano 117 28006 Madrid / ES |
||
For all designated states Universidad Politecnica De Madrid Ramiro de Maeztu nº 7 28040 Madrid / ES |
|||
[N/P] | |||
Former [2016/16] | For all designated states Consejo Superior De Investigaciones Científicas (CSIC) Serrano 117 28006 Madrid / ES |
||
For all designated states Universidad Politecnica De Madrid Ramiro de Maeztu nº 7 28040 Madrid / ES |
|||
Inventor(s) | 01 / CESTARI SOTO, Manuel Javier Centro de Automática y Robótica (CAR) Carretera de Campo Real Km 0 La Poveda 200 E-28500 Arganda del Rey (Madrid) / ES |
||
02 / SANZ MERODIO, Daniel Centro de Automática y Robótica (CAR) Carretera de Campo Real Km 0 La Poveda 200 E-28500 Arganda del Rey (Madrid) / ES |
|||
03 / GARCÍA ARMADA, Elena Centro de Automática y Robótica (CAR) Carretera de Campo Real Km 0 La Poveda 200 E-28500 Arganda del Rey (Madrid) / ES |
|||
[2016/16] | |||
Representative(s) | Del Valle Valiente, Sonia C/ Miguel Angel Cantero Oliva, 5,53 28660 Boadilla del Monte-Madrid / ES |
||
[2016/16] | |||
Application number, filing date | 14810160.3 | 23.05.2014 | |
[2016/16] | |||
WO2014ES70422 | |||
Priority number, date | ES20130030882 | 13.06.2013 Original published format: ES 201330882 | |
[2016/16] | |||
Filing language | ES | ||
Procedural language | EN | ||
Publication | Type: | A1 Application with search report | |
No.: | WO2014198979 | ||
Date: | 18.12.2014 | ||
Language: | ES | ||
[2014/51] | |||
Type: | A1 Application with search report | ||
No.: | EP3009240 | ||
Date: | 20.04.2016 | ||
Language: | EN | ||
[2016/16] | |||
Type: | B1 Patent specification | ||
No.: | EP3009240 | ||
Date: | 29.11.2017 | ||
Language: | EN | ||
[2017/48] | |||
Search report(s) | International search report - published on: | ES | 18.12.2014 |
(Supplementary) European search report - dispatched on: | EP | 04.05.2017 | |
Classification | IPC: | B25J19/06, B25J17/02, A61F2/30, A61F2/76, A61F2/50, A61H3/00, B25J9/16, B25J17/00 |
[2017/30] |
CPC: |
B25J19/068 (EP,US); A61H3/00 (US); A61F2/50 (EP,US);
A61F2/76 (EP,US); B25J17/00 (US); B25J9/1694 (US);
|
||
Former IPC [2017/22] | B25J19/06, B25J17/02, A61F2/30, A61F2/76 | ||
Former IPC [2016/16] | B25J19/06, B25J17/02, A61F2/30 | ||
Designated contracting states | AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LI, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR [2016/16] | ||
Extension states | BA | Not yet paid | |
ME | Not yet paid | ||
Title | German: | GELENK MIT KONTROLLIERBARER STEIFHEIT UND KRAFTMESSVORRICHTUNGSVORRICHTUNG | [2016/16] |
English: | ARTICULATION WITH CONTROLLABLE STIFFNESS AND FORCE-MEASURING DEVICE | [2016/16] | |
French: | ARTICULATION À RIGIDITÉ RÉGLABLE ET DISPOSITIF DE MESURE DE FORCE | [2016/16] | |
Entry into regional phase | 09.12.2015 | Translation filed | |
11.12.2015 | National basic fee paid | ||
11.12.2015 | Search fee paid | ||
11.12.2015 | Designation fee(s) paid | ||
11.12.2015 | Examination fee paid | ||
Examination procedure | 11.12.2015 | Examination requested [2016/16] | |
05.07.2017 | Communication of intention to grant the patent | ||
18.10.2017 | Fee for grant paid | ||
18.10.2017 | Fee for publishing/printing paid | ||
18.10.2017 | Receipt of the translation of the claim(s) | ||
Opposition(s) | 30.08.2018 | No opposition filed within time limit [2018/45] | |
Fees paid | Renewal fee | ||
15.04.2016 | Renewal fee patent year 03 | ||
30.05.2017 | Renewal fee patent year 04 | ||
Opt-out from the exclusive Tooltip competence of the Unified Patent Court |
See the Register of the Unified Patent Court for opt-out data | ||
Responsibility for the accuracy, completeness or quality of the data displayed under the link provided lies entirely with the Unified Patent Court. | |||
Lapses during opposition Tooltip | HU | 23.05.2014 | |
AL | 29.11.2017 | ||
AT | 29.11.2017 | ||
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
MK | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
PT | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
TR | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
IS | 29.03.2018 | ||
LU | 23.05.2018 | ||
MT | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
[2020/33] | |||
Former [2020/31] | HU | 23.05.2014 | |
AT | 29.11.2017 | ||
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
MK | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
PT | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
TR | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
MT | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2020/30] | HU | 23.05.2014 | |
AT | 29.11.2017 | ||
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
PT | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
TR | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
MT | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2020/28] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
PT | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
TR | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
MT | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2020/16] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
TR | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
MT | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2020/08] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
MT | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2019/24] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
BE | 31.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2019/17] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
LU | 23.05.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2019/12] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
CH | 31.05.2018 | ||
LI | 31.05.2018 | ||
Former [2019/06] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
MC | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/52] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SI | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/40] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RO | 29.11.2017 | ||
RS | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/39] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
IT | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RS | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/37] | AT | 29.11.2017 | |
CY | 29.11.2017 | ||
CZ | 29.11.2017 | ||
EE | 29.11.2017 | ||
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
NL | 29.11.2017 | ||
PL | 29.11.2017 | ||
RS | 29.11.2017 | ||
SK | 29.11.2017 | ||
SM | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/34] | AT | 29.11.2017 | |
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
NL | 29.11.2017 | ||
RS | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/24] | AT | 29.11.2017 | |
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
LT | 29.11.2017 | ||
LV | 29.11.2017 | ||
RS | 29.11.2017 | ||
BG | 28.02.2018 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/23] | AT | 29.11.2017 | |
ES | 29.11.2017 | ||
FI | 29.11.2017 | ||
HR | 29.11.2017 | ||
LT | 29.11.2017 | ||
RS | 29.11.2017 | ||
NO | 28.02.2018 | ||
GR | 01.03.2018 | ||
Former [2018/22] | ES | 29.11.2017 | |
FI | 29.11.2017 | ||
LT | 29.11.2017 | ||
NO | 28.02.2018 | ||
Documents cited: | Search | [A]US2009299480 (GILBERT BENOIT [CA], et al) [A] 1-8 * figures 1,6,7,17,21D * * paragraphs [0097] , [0098] * * paragraphs [0129] , [0137] *; | |
[AD] - WOLF S ET AL, "A new variable stiffness design: Matching requirements of the next robot generation", 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. THE HALF-DAY WORKSHOP ON: TOWARDS AUTONOMOUS AGRICULTURE OF TOMORROW, IEEE - PISCATAWAY, NJ, USA, PISCATAWAY, NJ, USA, (20080519), ISBN 978-1-4244-1646-2, pages 1741 - 1746, XP031340396 [AD] 1-8 * figures 2,3,4a,4b * * page 1742, column r, paragraph 2 - page 1743, column r, paragraph 1 * | |||
International search | [A]KR20110111580 (UNIV KOREA RES & BUS FOUND [KR]); | ||
[A]KR20120013715 (UNIV KOREA RES & BUS FOUND [KR]); | |||
[A]WO2012038931 (FOND ISTITUTO ITALIANO DI TECNOLOGIA [IT], et al); | |||
[A]ES2387228 (UNIV ALMERIA [ES]) | |||
by applicant | US5650704 | ||
EP1726412 | |||
WO2012038931 |