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    SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES
    11.
    发明申请
    SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
    通过电力反应动力来感知电动张力

    公开(公告)号：US20100121222A1

    公开(公告)日：2010-05-13

    申请号：US12269552

    申请日：2008-11-12

    申请人： MUHAMMAD E. ABDALLAH ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

    发明人： MUHAMMAD E. ABDALLAH ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

    IPC分类号： A61B5/103

    CPC分类号： B25J15/0009 ,  B25J9/1045 ,  G01L1/2218 ,  G01L5/226

    摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.

    摘要翻译： 使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。 可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。 在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。 力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。 腱穿过应变计元件和力部件。 应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

    PHALANGE TACTILE LOAD CELL
    12.
    发明申请
    PHALANGE TACTILE LOAD CELL 有权

    公开(公告)号：US20100077867A1

    公开(公告)日：2010-04-01

    申请号：US12241320

    申请日：2008-09-30

    申请人： Chris A. Ihrke ,  Myron A. Diftler ,  Douglas Martin Linn ,  Robert Platt ,  Bryan Kristian Griffith

    发明人： Chris A. Ihrke ,  Myron A. Diftler ,  Douglas Martin Linn ,  Robert Platt ,  Bryan Kristian Griffith

    IPC分类号： G01D7/00

    CPC分类号： G01L1/2243 ,  B25J13/084 ,  G01L5/226

    摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.

    摘要翻译： 一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。 称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。 应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。 称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

    Dexterous humanoid robotic wrist
    15.
    发明授权
    Dexterous humanoid robotic wrist 有权
    灵巧的人形机器手腕

    公开(公告)号：US08498741B2

    公开(公告)日：2013-07-30

    申请号：US12564088

    申请日：2009-09-22

    申请人： Chris A. Ihrke ,  Lyndon Bridgwater ,  David M. Reich ,  Charles W. Wampler, II ,  Scott R. Askew ,  Myron A. Diftler ,  Vienny Nguyen

    发明人： Chris A. Ihrke ,  Lyndon Bridgwater ,  David M. Reich ,  Charles W. Wampler, II ,  Scott R. Askew ,  Myron A. Diftler ,  Vienny Nguyen

    IPC分类号： B25J17/00 ,  B25J17/02 ,  G06F19/00 ,  B25J18/04

    CPC分类号： B25J17/0258 ,  Y10T74/20335

    摘要： A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.

    摘要翻译： 人形机器人包括躯干，一对手臂，颈部，头部，腕关节组件和控制系统。 手臂和脖子可以从躯干上移动。 每个臂包括下臂和相对于下臂可旋转的手。 腕关节组件可操作地限定在下臂和手之间。 腕关节组件包括偏转轴和俯仰轴。 俯仰轴线以与偏转轴线成间隔的关系设置，使得轴线大致垂直。 俯仰轴在偏转轴和下臂之间延伸。 手可围绕每个偏转轴和俯仰轴相对于下臂旋转。 控制系统被配置为确定腕关节组件的偏航角和俯仰角。

    FAST GRASP CONTACT COMPUTATION FOR A SERIAL ROBOT
    17.
    发明申请
    FAST GRASP CONTACT COMPUTATION FOR A SERIAL ROBOT 有权
    快速GRASP联系人计算一个串行机器人

    公开(公告)号：US20130041502A1

    公开(公告)日：2013-02-14

    申请号：US13207911

    申请日：2011-08-11

    申请人： Jianying Shi ,  Brian Hargrave ,  Myron A. Diftler

    发明人： Jianying Shi ,  Brian Hargrave ,  Myron A. Diftler

    IPC分类号： G06F19/00 ,  B25J17/00 ,  B25J15/12 ,  B25J9/16

    CPC分类号： B25J9/1612 ,  B25J15/0009

    摘要： A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

    摘要翻译： 系统包括控制器和串联机器人，其具有通过接头互连的链接，其中机器人能够响应于指令的抓握姿态来抓住三维（3D）物体。 控制器接收包括指令抓握姿态的输入信息，描述机器人的运动学的第一组信息，以及描述被抓握对象的位置的第二组信息。 控制器还在二维（2D）平面中计算串联机器人与串行机器人所需的3D对象表面之间的一组接触点，以实现指令性抓握姿势。 然后使用该组接触点在一对链路之间的2D平面中计算所需的关节角度。 然后使用所需的关节角度对串行机器人的运动执行控制动作。

    Torque control of underactuated tendon-driven robotic fingers
    19.
    发明授权
    Torque control of underactuated tendon-driven robotic fingers 有权
    欠肌腱驱动机器人手指的扭矩控制

    公开(公告)号：US08565918B2

    公开(公告)日：2013-10-22

    申请号：US12720727

    申请日：2010-03-10

    申请人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    发明人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    IPC分类号： G06F19/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

    摘要翻译： 机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的 一个实施例中的接头半径。 控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。 通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。 控制器可以利用非对称关节半径来独立地命令关节扭矩。 控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

    Human grasp assist device and method of use
    20.
    发明授权
    Human grasp assist device and method of use 有权
    人工抓握辅助装置及使用方法

    公开(公告)号：US08255079B2

    公开(公告)日：2012-08-28

    申请号：US12564095

    申请日：2009-09-22

    申请人： Douglas Martin Linn ,  Chris A. Ihrke ,  Myron A. Diftler

    发明人： Douglas Martin Linn ,  Chris A. Ihrke ,  Myron A. Diftler

    IPC分类号： A61H1/00 ,  G06F7/00 ,  A63B23/16

    CPC分类号： B25J9/104 ,  B25J9/0006 ,  B25J13/025 ,  B25J13/085

    摘要： A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.

    摘要翻译： 抓握辅助装置包括具有棘爪环的手套部分，用于测量穿戴手套部分的操作者施加的抓握力的接触传感器和腱驱动系统（TDS）。 该装置具有连接到齿根环的柔性腱，用于响应于来自传感器的反馈信号来移动环。 TDS连接到每个腱上，并且经由适于根据抓握力的确定增强张力的微控制器向其施加增强张力。 增加操作者的把持力的方法包括使用传感器测量抓握力，将抓握力编码为反馈信号，并且使用微控制器计算增强张力作为反馈信号的函数。 该方法包括激励腱驱动系统（TDS）的至少一个致动器，从而施加增强张力。