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Extract from the Register of European Patents

EP About this file: EP3009240

EP3009240 - ARTICULATION WITH CONTROLLABLE STIFFNESS AND FORCE-MEASURING DEVICE [Right-click to bookmark this link]
StatusNo opposition filed within time limit
Status updated on  05.10.2018
Database last updated on 20.11.2024
FormerThe patent has been granted
Status updated on  27.10.2017
FormerGrant of patent is intended
Status updated on  04.07.2017
Most recent event   Tooltip17.07.2020Lapse 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 date14810160.323.05.2014
[2016/16]
WO2014ES70422
Priority number, dateES2013003088213.06.2013         Original published format: ES 201330882
[2016/16]
Filing languageES
Procedural languageEN
PublicationType: 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:ES18.12.2014
(Supplementary) European search report - dispatched on:EP04.05.2017
ClassificationIPC: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);
A61F2002/503 (EP,US); A61F2002/5073 (EP,US); A61F2002/7635 (EP,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 statesAL,   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 statesBANot yet paid
MENot yet paid
TitleGerman: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 phase09.12.2015Translation filed 
11.12.2015National basic fee paid 
11.12.2015Search fee paid 
11.12.2015Designation fee(s) paid 
11.12.2015Examination fee paid 
Examination procedure11.12.2015Examination requested  [2016/16]
05.07.2017Communication of intention to grant the patent
18.10.2017Fee for grant paid
18.10.2017Fee for publishing/printing paid
18.10.2017Receipt of the translation of the claim(s)
Opposition(s)30.08.2018No opposition filed within time limit [2018/45]
Fees paidRenewal fee
15.04.2016Renewal fee patent year 03
30.05.2017Renewal 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  TooltipHU23.05.2014
AL29.11.2017
AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
MK29.11.2017
NL29.11.2017
PL29.11.2017
PT29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
TR29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
IS29.03.2018
LU23.05.2018
MT23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
[2020/33]
Former [2020/31]HU23.05.2014
AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
MK29.11.2017
NL29.11.2017
PL29.11.2017
PT29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
TR29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
MT23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
Former [2020/30]HU23.05.2014
AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
PT29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
TR29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
MT23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
Former [2020/28]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
PT29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
TR29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
MT23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
Former [2020/16]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
TR29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
MT23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
Former [2020/08]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
MT23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
Former [2019/24]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
BE31.05.2018
CH31.05.2018
LI31.05.2018
Former [2019/17]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
LU23.05.2018
CH31.05.2018
LI31.05.2018
Former [2019/12]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
CH31.05.2018
LI31.05.2018
Former [2019/06]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
MC29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/52]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SI29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/40]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
NL29.11.2017
PL29.11.2017
RO29.11.2017
RS29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/39]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
IT29.11.2017
LT29.11.2017
LV29.11.2017
NL29.11.2017
PL29.11.2017
RS29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/37]AT29.11.2017
CY29.11.2017
CZ29.11.2017
EE29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
LT29.11.2017
LV29.11.2017
NL29.11.2017
PL29.11.2017
RS29.11.2017
SK29.11.2017
SM29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/34]AT29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
LT29.11.2017
LV29.11.2017
NL29.11.2017
RS29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/24]AT29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
LT29.11.2017
LV29.11.2017
RS29.11.2017
BG28.02.2018
NO28.02.2018
GR01.03.2018
Former [2018/23]AT29.11.2017
ES29.11.2017
FI29.11.2017
HR29.11.2017
LT29.11.2017
RS29.11.2017
NO28.02.2018
GR01.03.2018
Former [2018/22]ES29.11.2017
FI29.11.2017
LT29.11.2017
NO28.02.2018
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 applicantUS5650704
 EP1726412
 WO2012038931
The EPO accepts no responsibility for the accuracy of data originating from other authorities; in particular, it does not guarantee that it is complete, up to date or fit for specific purposes.