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41 条记录 (耗时 0.03 秒)

    Tendon tension sensor
    21.
    发明授权
    Tendon tension sensor 有权
    肌腱张力传感器

    公开(公告)号：US08371177B2

    公开(公告)日：2013-02-12

    申请号：US12241309

    申请日：2008-09-30

    申请人： Chris A. Ihrke ,  Lyndon Bridgwater ,  Robert Platt

    发明人： Chris A. Ihrke ,  Lyndon Bridgwater ,  Robert Platt

    IPC分类号： G01B5/30

    CPC分类号： G01L5/102 ,  B25J9/1045

    摘要： A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.

    摘要翻译： 一种肌腱张力传感器，其具有用于测量在机器臂中使用的腱上的张力的特定应用。 张力传感器包括具有弯曲通道的弹性元件，腱穿过该弯曲通道。 弹性元件还包括中心部分，在该中心部分上安装有测量弹性元件上的应变的应变计。 腱上的张力导致弹性元件的中心部分弯曲或弯曲，这是由应变计测得的，提供了肌腱中张力的指示。

    HUMAN GRASP ASSIST DEVICE AND METHOD OF USE
    22.
    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。

    Human grasp assist device and method of use
    23.
    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。

    Bidirectional tendon terminator
    24.
    发明授权
    Bidirectional tendon terminator 有权
    双向肌腱终止子

    公开(公告)号：US08276958B2

    公开(公告)日：2012-10-02

    申请号：US12269579

    申请日：2008-11-12

    申请人： Chris A. Ihrke ,  Douglas Martin Linn ,  Lyndon Bridgwater

    发明人： Chris A. Ihrke ,  Douglas Martin Linn ,  Lyndon Bridgwater

    IPC分类号： B25J15/00 ,  B66C1/00

    CPC分类号： B25J15/0009 ,  B25J9/1075 ,  Y10T74/20329 ,  Y10T74/20335

    摘要： A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.

    摘要翻译： 双向肌腱终止器，其具有用于终止在机器臂中致动手指的腱的特定应用。 腱终端器包括具有内部通道的圆柱形构件，单个连续的腱延伸穿过该内部通道。 腱终端器的内部通道包括加宽部分。 一个球被放置在肌腱股线中，这导致腱膨胀，并且球定位在通道的加宽部分内。 根据肌腱被牵引的方向，拉动肌腱操作以打开或关闭机器手臂的手指。 在一个具体实施例中，气缸包括两个联接在一起的圆柱形件，使得球可以定位在通道内，并且圆柱形构件具有整个材料周长。

    HUMAN GRASP ASSIST DEVICE WITH EXOSKELETON
    26.
    发明申请
    HUMAN GRASP ASSIST DEVICE WITH EXOSKELETON 有权
    具有EXOSKELETON的人格辅助装置

    公开(公告)号：US20130219585A1

    公开(公告)日：2013-08-29

    申请号：US13408656

    申请日：2012-02-29

    申请人： Bryan J. Bergelin ,  Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Lyndon B.J. Bridgwater

    发明人： Bryan J. Bergelin ,  Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Lyndon B.J. Bridgwater

    IPC分类号： A41D19/00

    CPC分类号： B25J9/0006

    摘要： A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

    摘要翻译： 抓握辅助系统包括手套，致动器组件和控制器。 手套包括数字，即手指或拇指，以及力传感器。 传感器测量穿戴手套的操作者施加到物体的抓握力。 齿轮环相对于数字定位。 柔性腱在一端与其中一个环连接，并通过其余的环路。 相对于数字定位的外骨骼包括各自连接到对应环的铰接互连构件和/或单个开槽材料。 致动器组件连接到腱的另一端。 控制器响应于测量到的抓持力计算拉力，并且指示来自致动器组件的拉力从而拉动腱。 外骨骼从操作者的手指向手套卸载一些张力。