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公开(公告)号：US08618762B2
公开(公告)日：2013-12-31
申请号：US13014901
申请日：2011-01-27
CPC分类号： B25J9/1045 , B25J13/088 , B25J15/0009
摘要： A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.
摘要翻译： 腱张紧系统包括具有近端和远端的腱，致动器和马达控制器。 致动器可以包括驱动螺钉和马达，并且可以与腱的近端联接并且被配置为响应于电流而通过腱施加张力。 电动机控制器可以与致动器电耦合，并且被配置为向致动器提供具有第一幅度的电流，直到通过腱实现失速张力; 在实现失速张力之后向致动器提供脉冲电流，其中脉冲电流的幅度大于第一幅度，并且在脉冲电流结束之后将电动机返回到保持电流的稳态。
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公开(公告)号：US20110071664A1
公开(公告)日：2011-03-24
申请号：US12564095
申请日：2009-09-22
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。
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公开(公告)号：US08401700B2
公开(公告)日：2013-03-19
申请号：US12564124
申请日：2009-09-22
CPC分类号： B25J18/00 , Y10T74/20317 , Y10T74/20335
摘要： The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.
摘要翻译： 用于人形机器人的下臂组件包括具有第一侧和第二侧的臂支撑件，安装到臂支撑件的第一侧的多个手腕致动器，安装到臂支撑件的第二侧的多个手指致动器 以及还位于臂支撑件的第一侧上的多个电子设备。
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公开(公告)号：US20110071678A1
公开(公告)日：2011-03-24
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译： 人形机器人包括具有至少一根手指的机器手。 用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。 腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。 致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。
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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
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。
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公开(公告)号：US07784363B2
公开(公告)日：2010-08-31
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。
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公开(公告)号：US06244644B1
公开(公告)日：2001-06-12
申请号：US09236965
申请日：1999-01-25
IPC分类号： B25J1510
CPC分类号： B25J9/104 , B25J15/0009 , B25J15/10 , Y10S294/907
摘要： A compact robotic hand 10 includes a palm housing 16, a wrist section 12 and a forearm section 16. The palm housing supports a plurality of fingers 18, 20, 22 and one or more movable palm members 24, 25 that cooperate with the fingers to grasp and/or release an object. Each flexible finger 18, 20, 22 comprises a plurality of hingedly connected segments, including a proximal segment 16 pivotally connected to the palm housing. The proximal finger segment 16 includes at least one groove 122 defining first and second cam surfaces 126, 128 for engagement with a cable 60. A plurality of lead screw assemblies 54 each carried by the palm housing are supplied with power from a flexible shaft 92 rotated by an actuator 91, and output linear motion to a cable 60 move a finger. The cable 60 is secured within a respective groove 122 and enables each finger to move between an opened and closed position. A decoupling assembly 288 pivotally connected to a proximal finger segment enables a cable 60 connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.
摘要翻译： 紧凑的机器人手10包括手掌壳体16，手腕部分12和前臂部分16.手掌壳体支撑多个手指18,20,22以及与手指配合的一个或多个可动手掌部件24,25 掌握和/或释放对象。 每个柔性指18,20,22包括多个铰接连接的段，包括枢转地连接到手掌壳体的近侧段16。 近端指部16包括限定用于与电缆60接合的第一和第二凸轮表面126,128的至少一个凹槽122.由手掌壳承载的多个导螺杆组件54由旋转的柔性轴92供给动力 通过致动器91，并且将线性运动输出到电缆60移动手指。 电缆60固定在相应的凹槽122内，并使每个手指在打开和关闭位置之间移动。 枢转地连接到近端指状部分的解耦组件288使得连接到其上的电缆60能够独立于近端指状部分的运动来控制中间和远端指状部分的运动。 灵巧的机器人手非常类似于人的功能，但重量轻，能够以高精度掌握重物和轻物。
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公开(公告)号：US09067319B2
公开(公告)日：2015-06-30
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
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。
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9.发明授权Robust operation of tendon-driven robot fingers using force and position-based control laws 有权使用强力和基于位置的控制规律对肌腱驱动的机器人手指进行稳健的操作公开(公告)号：US08489239B2
公开(公告)日：2013-07-16
申请号：US12916803
申请日：2010-11-01
申请人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
发明人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
摘要翻译： 机器人系统包括腱驱动的手指和控制系统。 当张力传感器可用时，系统通过基于力的控制律控制手指，并且当传感器不可用时，通过基于位置的控制规律来控制手指。 多个腱可以各自具有相应的传感器。 当只有一些传感器可用时，系统选择性地将符合值注入基于位置的控制律。 控制系统包括主机和具有控制过程的非暂时计算机可读介质，该控制过程由主机通过基于力或基于位置的控制定律来执行以控制手指。 用于控制手指的方法包括确定张力传感器的可用性，以及使用控制系统通过力或基于位置的控制律选择性地控制手指。 位置控制法允许控制系统抵抗干扰，同时名义上保持内部肌腱张力的初始状态。
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10.发明申请ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS 有权使用强力和基于位置的控制法强力运转机器人手指公开(公告)号：US20120109379A1
公开(公告)日：2012-05-03
申请号：US12916803
申请日：2010-11-01
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Matthew J. Reiland , Brian Hargrave , Myron A. Diftler , Philip A. Strawser , Chris A. Ihrke
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Matthew J. Reiland , Brian Hargrave , Myron A. Diftler , Philip A. Strawser , Chris A. Ihrke
IPC分类号： G05B15/00
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
摘要翻译： 机器人系统包括腱驱动的手指和控制系统。 当张力传感器可用时，系统通过基于力的控制律控制手指，并且当传感器不可用时，通过基于位置的控制规律来控制手指。 多个腱可以各自具有相应的传感器。 当只有一些传感器可用时，系统选择性地将符合值注入基于位置的控制律。 控制系统包括主机和具有控制过程的非暂时计算机可读介质，该控制过程由主机通过基于力或基于位置的控制定律来执行以控制手指。 用于控制手指的方法包括确定张力传感器的可用性，以及使用控制系统通过力或基于位置的控制律选择性地控制手指。 位置控制法允许控制系统抵抗干扰，同时名义上保持内部肌腱张力的初始状态。
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