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    HUMAN GRASP ASSIST DEVICE AND METHOD OF USE
    14.
    发明申请
    HUMAN GRASP ASSIST DEVICE AND METHOD OF USE 有权
    人格辅助装置及其使用方法

    公开(公告)号：US20110071664A1

    公开(公告)日：2011-03-24

    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： B65G7/12 ,  G06F19/00 ,  A41D19/00

    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。

    DEXTEROUS HUMANOID ROBOTIC WRIST
    16.
    发明申请
    DEXTEROUS HUMANOID ROBOTIC WRIST 有权
    地中海人造革手腕

    公开(公告)号：US20110071671A1

    公开(公告)日：2011-03-24

    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： G06F19/00 ,  B25J17/02

    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。

    Dexterous humanoid robotic wrist
    17.
    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。

    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。

    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS
    20.
    发明申请
    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS 有权
    受力驱动的机动手指的扭矩控制

    公开(公告)号：US20100280662A1

    公开(公告)日：2010-11-04

    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 J. Platt, JR. ,  Lyndon Bridgwater

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

    IPC分类号： G05B15/00

    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。