(19)

(11)

EP 3 911 477 A1

(12)

(43) Date of publication: 24.11.2021 Bulletin 2021/47 (21) Application number: 19713343.2 (22) Date of filing: 19.02.2019

(51) International Patent Classification (IPC):  B25J 9/00(2006.01) (52) Cooperative Patent Classification (CPC): B25J 9/0045 (86) International application number: PCT/CZ2019/000011 (87) International publication number: WO 2020/125821 (25.06.2020 Gazette 2020/26)

(84) 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 Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 17.12.2018 CZ 20180705 (71) Applicant: Ceske vysoke uceni technicke v Praze 160 00 Praha 6 - Dejvice (CZ)	(72) Inventor: VALÁ EK, Michael 143 00 Praha 4 (CZ) (74) Representative: Novotny, Karel  Zufanova 2/1099 163 00 Praha 6 163 00 Praha 6 (CZ)