公开(公告)号：US06424333B1

公开(公告)日：2002-07-23

申请号：US09838052

申请日：2001-04-18

申请人： Mark R. Tremblay ,  Mark H. Yim

发明人： Mark R. Tremblay ,  Mark H. Yim

IPC分类号： G09G500

CPC分类号： G06F3/016 ,  G06F3/011 ,  G06F3/014 ,  G06F3/0484 ,  G10H1/34 ,  G10H2220/321 ,  G10L15/22 ,  G10L2015/225

摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.

摘要翻译： 公开了一种向各种感测体部件提供触觉反馈的人机界面。 该装置采用一个或多个振动触觉单元，其中每个单元包括质量块和质量移动致动器。 当质量由质量移动致动器加速时，整个振动触觉单元振动。 因此，振动触觉单元将振动刺激传递到其所固定的感测体部分。 振动触觉单元可以与测量测量的身体部分的空间放置的空间放置感测装置结合使用。 计算装置使用所测量的身体部位的空间放置来确定由振动触觉单元提供的期望的振动刺激。 以这种方式，计算装置可以响应于所测量的身体部分的运动来控制由对应的感测体部分感知的振动反馈的水平。 感测体部分和测量的身体部分可以是分开的或相同的身体部分。

公开(公告)号：US06422509B1

公开(公告)日：2002-07-23

申请号：US09722627

申请日：2000-11-28

申请人： Mark H. Yim

发明人： Mark H. Yim

IPC分类号： F41G700

CPC分类号： B64C27/10 ,  B64C13/16 ,  B64C39/028 ,  B64C2201/027 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/121 ,  B64C2201/127 ,  B64C2201/145 ,  B64C2201/146 ,  Y02T50/44

摘要： A tracking device includes a motor, top and bottom propellers of opposite sense attached to the stator and rotor of the motor for rotation in opposite directions. Target sensors are provided on the propellers and signals from the target sensors are supplied to a controller that controls the rotation of the motor and the propellers. The tracking device also includes a power supply for the motor and the controller.

摘要翻译： 跟踪装置包括具有相反方向的马达，顶部和底部螺旋桨，其附接到马达的定子和转子，以沿相反方向旋转。 在螺旋桨上提供目标传感器，并且将来自目标传感器的信号提供给控制电机和螺旋桨旋转的控制器。 跟踪装置还包括用于电动机和控制器的电源。

公开(公告)号：US06243622B1

公开(公告)日：2001-06-05

申请号：US09174069

申请日：1998-10-16

申请人： Mark H. Yim ,  John O. Lamping ,  Eric W. Mao

发明人： Mark H. Yim ,  John O. Lamping ,  Eric W. Mao

IPC分类号： G06F1900

CPC分类号： G06F3/016

摘要： A touchable user interface including multiple robotic modules that can “walk” over each other to allow reconfiguration of the interface. Each module preferably includes motive devices as well as connective devices communication between the modules and a control unit that send commands to the interface, thereby enabling its reconfiguration. Depending on the needs of the user/builder, the interface can be an input interface, or both. The interface can also act as robotic appendage/manipulator capable of engaging and manipulating a wide variety of objects and/or substances by engulfing such objects and/or substances in “pseudopods” and structural voids which the modules are moved by instructions from the control unit.

摘要翻译： 可触摸的用户界面，包括可以“彼此行进”的多个机器人模块，以允许重新配置接口。 每个模块优选地包括动力装置以及模块之间的连接装置通信以及向接口发送命令的控制单元，从而实现其重新配置。 根据用户/构建器的需要，接口可以是输入接口，也可以是两者。 该接口还可以充当能够通过吞没“伪足”中的这些物体和/或物质的结构空隙来接合和操纵各种物体和/或物质的机器人附属/操纵器，这些模块通过来自控制单元的指令移动 。

公开(公告)号：US06233503B1

公开(公告)日：2001-05-15

申请号：US09174372

申请日：1998-10-16

申请人： Mark H. Yim ,  John O. Lamping ,  Eric W. Mao

发明人： Mark H. Yim ,  John O. Lamping ,  Eric W. Mao

IPC分类号： G06F1900

CPC分类号： G06N3/008 ,  G05B2219/33071

摘要： A movable robotic module including a framework defining a set of vertex elements, a set of edge elements, or a set of face elements, with the framework substantially shaped to permit face centered cubic packing. Each module includes a pivot mechanism on its framework to permit rotation of the framework with respect to other movable robotic modules. A power unit supplies operational power to each module, the power being used for rotation of the module, sensor and/or a control unit connected to the pivot mechanism and/or the power unit to control rotation of the framework.

摘要翻译： 一种可移动机器人模块，其包括限定一组顶点元素的框架，一组边缘元素或一组面元素，框架基本上被成形为允许面心立方体填充。 每个模块在其框架上包括枢转机构，以允许框架相对于其他可移动的机器人模块旋转。 电力单元为每个模块提供操作电力，用于模块，传感器和/或连接到枢转机构和/或动力单元的控制单元的动力的功率用于控制框架的旋转。

公开(公告)号：US6098661A

公开(公告)日：2000-08-08

申请号：US995107

申请日：1997-12-19

申请人： Mark H. Yim ,  Warren B. Jackson ,  James G. Chase ,  David K. Biegelsen ,  Patrick C. P. Cheung ,  Andrew A. Berlin

发明人： Mark H. Yim ,  Warren B. Jackson ,  James G. Chase ,  David K. Biegelsen ,  Patrick C. P. Cheung ,  Andrew A. Berlin

IPC分类号： F16K11/052

CPC分类号： F16K11/052

摘要： A valve for redirecting fluid flow has a valve chamber supporting fluid flow, with the valve chamber having an inlet, a first outlet, and a second outlet. The valve chamber can be closed or partially open. The flap element is movable to alternatively block the first outlet and the second outlet. In or immediately adjacent to the valve chamber are opposing first and a second catch mechanisms for controllably latching the flap element to block respectively the first outlet and the second outlet. The first and second catch mechanisms have a disabled state and an activated state for holding and allowing release of the flap element. Once the first or second catch mechanism is disabled, the flap element is free to move to another position, provided it can overcome the mechanical fluid flow forces that tend to hold it in position. To counter and utilize such forces for moving the flap element, an impulse mechanism kicks the flap element into the valve chamber, away from one of the first and second catch mechanisms, after one of the first and second catch mechanisms is controllably brought into the disabled state. Since the flap element is unstable, oscillations of the flap element in the fluid flow will eventually bring the flap element into catchment range of one of the first and second catch mechanisms in an activated state.

摘要翻译： 用于重新引导流体流动的阀具有支撑流体流动的阀室，阀室具有入口，第一出口和第二出口。 阀室可以关闭或部分打开。 翼片元件可移动以交替地阻挡第一出口和第二出口。 在阀室或紧邻阀室的第一和第二接合机构中，用于可控制地锁定挡板元件以分别阻挡第一出口和第二出口。 第一和第二捕获机构具有禁用状态和用于保持并允许释放瓣元件的激活状态。 一旦禁用第一或第二捕获机构，则翼片元件可自由移动到另一位置，只要它能够克服倾向于将其保持在适当位置的机械流体流动力。 为了对抗和利用这种力来移动襟翼元件，脉冲机构在第一和第二捕获机构中的一个被可控制地进入禁用状态之后将襟翼元件踢向阀室中，远离第一和第二捕获机构中的一个 州。 由于翼片元件不稳定，所以翼片元件在流体流中的振荡将最终将瓣片元件带入处于活动状态的第一和第二捕获机构中的一个的集水区。

公开(公告)号：US06055391A

公开(公告)日：2000-04-25

申请号：US799559

申请日：1997-02-10

申请人： Warren B. Jackson ,  Mark H. Yim ,  Andrew A. Berlin

发明人： Warren B. Jackson ,  Mark H. Yim ,  Andrew A. Berlin

IPC分类号： B41J29/08 ,  F16F15/02 ,  G01B11/00 ,  G01B11/16 ,  G01B11/27 ,  G01H17/00 ,  G03G21/20 ,  G01B11/14

CPC分类号： G01B11/272 ,  G01B11/16

摘要： A system for detecting and damping vibrations in printer components, mechanical devices, buildings, or large structures has a plurality of light beam detectors for generating signals corresponding to a reference light beam position. The light beam detectors are partially transparent to allow passage of the light beam through the detector, permitting multiple detectors to use the same reference light beam. The detectors are attached to vibration susceptible structural elements, with detected movement of the light beam with respect to the partially transparent light beam detector corresponding to movement of the vibration susceptible structural element. Motion control units connected to the detectors can be used to control or damp detected vibrations in real-time.

摘要翻译： 用于检测和减轻打印机部件，机械装置，建筑物或大型结构中的振动的系统具有多个光束检测器，用于产生对应于参考光束位置的信号。 光束检测器是部分透明的，以允许光束通过检测器，允许多个检测器使用相同的参考光束。 检测器被附接到易受振动的结构元件上，其中检测到的光束相对于部分透明的光束检测器对应于振动敏感结构元件的移动。 连接到检测器的运动控制单元可用于实时控制或抑制检测到的振动。

公开(公告)号：US07264289B2

公开(公告)日：2007-09-04

申请号：US11210853

申请日：2005-08-25

申请人： Mark H. Yim

发明人： Mark H. Yim

IPC分类号： B25J15/00 ,  B25J15/10

CPC分类号： B25J9/06 ,  B25J9/1075

摘要： A robotic device may include a plurality of concatenated assemblies, a tendon slidably connected to the plurality of concatenated assemblies, and an actuator that moves the tendon. Each assembly of the concatenated plurality may include a joining member that neighbors an adjacent assembly, a linkage that may fixedly connect to the joining member and may pivotably connect to the adjacent assembly, and an appendage that may extend from the joining member to a length. The appendage may include a connector through which the tendon may be connected to slide through. The connector may be adjustably disposable along the length of the appendage to a specified position thereon. The appendage may extend in a direction at a specified angle relative to the linkage.

摘要翻译： 机器人装置可以包括多个级联组件，可滑动地连接到多个连接组件的腱以及移动肌腱的致动器。 级联多个的每个组件可以包括邻近相邻组件的连接构件，可以固定地连接到接合构件并且可以可枢转地连接到相邻组件的连杆，以及可以从接合构件延伸到一定长度的附件。 附件可以包括连接器，肌腱可以通过该连接器连接以滑动。 连接器可以沿着附件的长度可调节地一次性到其上的指定位置。 附件可以相对于连杆在指定角度的方向上延伸。

公开(公告)号：US07086502B2

公开(公告)日：2006-08-08

申请号：US10786797

申请日：2004-02-24

申请人： Mark H. Yim ,  Kimon D. Roufas ,  Craig Eldershaw

发明人： Mark H. Yim ,  Kimon D. Roufas ,  Craig Eldershaw

IPC分类号： A63B27/00 ,  E04G3/00

CPC分类号： A63B27/00

摘要： A transport apparatus for transporting materials or objects on substantially vertical structures for installation, deployment, inspection and repair purposes includes gripping mechanisms having a conformable gripping portion. The gripping mechanisms are separated by links, which are mutually attached to each other to permit angular rotation of the links relative to each other about a pivot point. A latching mechanism provides the capability for the gripping portion to be opened as well as secured for operation.

摘要翻译： 用于在基本垂直的结构上运输材料或物体用于安装，展开，检查和修理目的的运输设备包括具有适形夹持部分的夹持机构。 夹持机构通过链节分开，链节彼此相互连接，以允许连杆相对于枢轴点彼此角度旋转。 闩锁机构提供了抓握部分被打开并且被固定用于操作的能力。

公开(公告)号：US06368002B1

公开(公告)日：2002-04-09

申请号：US09450466

申请日：1999-11-29

申请人： Eric Saund ,  Mark H. Yim

发明人： Eric Saund ,  Mark H. Yim

IPC分类号： B43K2302

CPC分类号： B43K23/02 ,  B43L13/02 ,  B43L13/10

摘要： The Pendulum Whiteboard Printer is a fully-automatic robotic device for marking or otherwise effecting whiteboards, pinboards, or other vertical surfaces. The physical device consists of an effector platform suspended by two suspension wires whose lengths are adjusted by motorized spindles mounted above and on either side of the board surface. The position of the effector platform is adjusted by winding and unwinding the wires. Electrical power is supplied to the effector platform through the suspension wires or through an on-board battery. Control of a pen and/or other apparatus on the effector platform is achieved through modulation of the power voltage. A parking facility is provided as a resting place for the effector platform for such purposes as keeping pens from drying out.

摘要翻译： 摆锤白板打印机是一种全自动机器人设备，用于标记或以其他方式影响白板，插板或其他垂直表面。 物理装置由两个悬挂线悬挂的效应器平台组成，其长度通过安装在板表面的任一侧上的电动主轴进行调节。 通过缠绕和展开电线来调节效应器平台的位置。 电力通过悬挂线或通过车载电池供应到效应器平台。 通过调节电源电压来实现对效应器平台上笔和/或其他设备的控制。 提供停车设施作为效应器平台的休息处，用于保持笔不会干燥。

公开(公告)号：US6150738A

公开(公告)日：2000-11-21

申请号：US174071

申请日：1998-10-16

申请人： Mark H. Yim

发明人： Mark H. Yim

IPC分类号： F16S5/00 ,  B25J9/16 ,  H02J4/00 ,  G05B19/414

CPC分类号： B25J9/1617 ,  G05B2219/39146 ,  G05B2219/45073 ,  Y10T307/469 ,  Y10T307/826

摘要： A modular electronic assembly comprising a plurality of modules. Each modules power connection plates including a single dynamically defined root power connection plate and at least one dynamically defined branch power connection plate. Each module has a power distribution controller for dynamically defining the single root power connection plate and branch power connection plate(s) and distributing power between the modules only from branch power connection plates to root power connection plates of the modules connected by power connection plates. A constant current power supply is connected to at least one of the plurality of modules to provide a substantially constant current to all of the plurality of modules connected together by power connection plates.

摘要翻译： 一种包括多个模块的模块化电子组件。 每个模块电源连接板包括单个动态定义的根电源连接板和至少一个动态定义的分支电源连接板。 每个模块都有一个动力分配控制器，用于动态地定义单根电源连接板和分支电源连接板，并且只能从分支电源连接板到电源连接板连接的模块的根电源连接板之间分配电源。 恒流电源连接到多个模块中的至少一个，以通过电力连接板向连接在一起的所有多个模块提供基本恒定的电流。