SUMMARYIn the field of multifingered mechanisms the control/command problem is mainly a problem o1 coordination. The problem is not only to coordinate joints of a chains but also to coordinate the different chains together.This paper presents a general and efficient method for implementing the control/command of such systems, taking into account the force distribution problem. To solve this problem it is necessary to pay great attention to dynamic effects. To do this, we broke down the Inverse Dynamic Model (I.D.M.) problem into two main levels; One level is devoted to I.D.M. computation; it can be called the Finger Level (F.L.). As we wanted to divide up the work to be done as much as possible, we subdivided the Finger Level according to the number o1 kinematic chains. In addition, we considered a second level, the Coordinator. This level has to control all the chains using the Fingers-to-Object-Interaction Model (F.O.LM.).Next, we will also introduce new grasping systems: Polyvalent Gripper Systems (P.G.S). There are a new solution to multicomponent assembly problems. As they can be equipped with several multifingered mechanisms, they can also use the control/command scheme.

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Operators suffer much difficulty in mauipulatiug microluauo-sized objects without the assistance of humaumachie interfaces due to scaling effects. We developed an immersive tekmanipulatiou system using haptidvisuisual/souud interfaces for observation of micrwbjects under an optical microscope. As the image of the microscope is hvrAimeusioual, so it is hard to observe the workspace in the 3-D space. To improve the real-time observation and manipulation, we proposed real-time 3-D reconstruction of the microworld using image processing and virtualized reality techniques Then, feasible haptically-generated paths based ou potentials fields reaction forces are selected for efficient pushing-based manipulation without collisions. The proposed system guides the operator's gesture fully immerged in the virtual workspace.

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This paper describes an active vehicle seat to isolate the equipment and passengers in a vehicle from vibration and to compensate, to a certain extent, for acceleration in all directions. The main objective of this system is to reduce the negative effects of vibration and acceleration on embarked equipment and passengers. The active seat is composed of three main subsystems: A motion sensor unit installed on the vehicle body, to acquire the main motion parameters of the vehicle: speeds, accelerations, inclinations, etc. A small motion base attached to the seat. This platform moves actively, driven by a set of actuators. A control system for the overall system command. The seat has been extensively tested and the main results are presented.