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1.发明授权Telematic interface with control signal scaling based on force sensor feedback 有权基于力传感器反馈的具有控制信号缩放的远程通讯接口公开(公告)号：US08918215B2
公开(公告)日：2014-12-23
申请号：US13009040
申请日：2011-01-19
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16 , G05B19/427
CPC分类号： B25J9/1689 , G05B19/427
摘要： Method and system for telematic control of a slave device. A stiffness of a material physically contacted by a slave device (202) is estimated based on information obtained from one or more slave device sensors (216, 217). Based on this stiffness estimation, a motion control command directed to the slave device is dynamically scaled. A data processing system (204) is in communication with a control interface (203) and the slave device. The data processing system (204) is configured to generate the motion control commands in response to sensor data obtained from the control interface. The system (200) also includes a stiffness estimator (602) configured for automatically estimating a stiffness of a material physically contacted by the slave device based on information obtained from the slave device sensors. A scaling unit (607) is responsive to the stiffness estimator and is configured for dynamically scaling the motion control command.
摘要翻译： 从属设备远程信息处理的方法和系统。 基于从一个或多个从属设备传感器（216,217）获得的信息来估计由从设备（202）物理接触的材料的刚度。 基于该刚度估计，定向到从设备的运动控制命令被动态缩放。 数据处理系统（204）与控制接口（203）和从设备通信。 数据处理系统（204）被配置为响应于从控制接口获得的传感器数据生成运动控制命令。 系统（200）还包括刚度估计器（602），其被配置为基于从从设备传感器获得的信息来自动估计由从设备物理接触的材料的刚度。 缩放单元（607）响应于刚度估计器并且被配置用于动态地缩放运动控制命令。
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公开(公告)号：US08918214B2
公开(公告)日：2014-12-23
申请号：US13009019
申请日：2011-01-19
CPC分类号： B25J13/025 , B25J5/005 , B25J9/1689 , B25J19/023 , G05B2219/39065 , G05B2219/40184 , G05B2219/40401 , G06F3/017
摘要： Method and system for telematic control of a slave device. Displacement of a user interface control is sensed with respect to a control direction. A first directional translation is performed to convert data specifying the control direction to data specifying a slave direction. The slave direction will generally be different from the control direction and defines a direction that the slave device should move in response to the physical displacement of the user interface. A second directional translation is performed to convert data specifying haptic sensor data to a haptic feedback direction. The haptic feedback direction will generally be different from the sensed direction and can define a direction of force to be generated by at least one component of the user interface. The first and second directional translation are determined based on a point-of-view of an imaging sensor.
摘要翻译： 从属设备远程信息处理的方法和系统。 相对于控制方向检测用户界面控制的位移。 执行第一定向转换以将指定控制方向的数据转换为指定从方向的数据。 从动方向通常与控制方向不同，并且定义了从属设备响应于用户接口的物理位移而移动的方向。 执行第二定向转换以将指定触觉传感器数据的数据转换为触觉反馈方向。 触觉反馈方向通常不同于感测到的方向，并且可以定义由用户界面的至少一个部件产生的力的方向。 基于成像传感器的视点来确定第一和第二定向平移。
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公开(公告)号：US08534729B2
公开(公告)日：2013-09-17
申请号：US13197933
申请日：2011-08-04
CPC分类号： B25J15/08 , B25J15/024
摘要： A robotic gripper (10) has fingers (12) that are configured to grasp an object, and an actuator (20) for driving the fingers. The actuator has a drive train (30) connected to the fingers for driving the fingers, an impact mechanism (40) mechanically connected to the drive train for driving the drive train, and a motor (50) connected to the impact mechanism for driving the impact mechanism. The impact mechanism generates a series of impacts that are delivered to the drive train when the impact mechanism is loaded beyond a threshold torque. The drive train is a back-drive inhibited drive train provided by a worm drive (32, 34) that is mechanically coupled to the impact mechanism.
摘要翻译： 机器人夹具（10）具有构造成抓住物体的手指（12）和用于驱动手指的致动器（20）。 致动器具有连接到用于驱动指状物的指状物的传动系（30），机械地连接到用于驱动传动系的传动系的冲击机构（40），以及连接到冲击机构的马达（50），用于驱动 影响机制。 当冲击机构加载超过阈值扭矩时，冲击机构产生一系列冲击，传递给传动系。 传动系是由机械联接到冲击机构的蜗杆传动装置（32,34）提供的后驱动禁止传动系。
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公开(公告)号：US20130090764A1
公开(公告)日：2013-04-11
申请号：US13267357
申请日：2011-10-06
CPC分类号： F41H11/16 , B25J3/00 , B25J9/1633 , B25J9/1689 , G05B2219/40404 , G05D1/0016 , Y10S901/01 , Y10S901/02 , Y10S901/15
摘要： A robot system (50) includes a control system (101) having a control interface grip (102). The robot system includes a macro robotic arm (54) and a micro robotic arm (60). The robot system is arranged such that the macro robotic arm will respond, in a first control system state, to movement of the control interface grip. In particular, the macro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. The micro robotic arm will respond, in a second control system state, to movement of the control interface grip. In particular, the micro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip.
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5.发明申请TELEMATIC INTERFACE WITH CONTROL SIGNAL SCALING BASED ON FORCE SENSOR FEEDBACK 有权基于力传感器反馈控制信号调节的电话接口公开(公告)号：US20120185099A1
公开(公告)日：2012-07-19
申请号：US13009040
申请日：2011-01-19
CPC分类号： B25J9/1689 , G05B19/427
摘要： Method and system for telematic control of a slave device. A stiffness of a material physically contacted by a slave device (202) is estimated based on information obtained from one or more slave device sensors (216, 217). Based on this stiffness estimation, a motion control command directed to the slave device is dynamically scaled. A data processing system (204) is in communication with a control interface (203) and the slave device. The data processing system (204) is configured to generate the motion control commands in response to sensor data obtained from the control interface. The system (200) also includes a stiffness estimator (602) configured for automatically estimating a stiffness of a material physically contacted by the slave device based on information obtained from the slave device sensors. A scaling unit (607) is responsive to the stiffness estimator and is configured for dynamically scaling the motion control command.
摘要翻译： 从属设备远程信息处理的方法和系统。 基于从一个或多个从属设备传感器（216,217）获得的信息来估计由从设备（202）物理接触的材料的刚度。 基于该刚度估计，定向到从设备的运动控制命令被动态缩放。 数据处理系统（204）与控制接口（203）和从设备通信。 数据处理系统（204）被配置为响应于从控制接口获得的传感器数据生成运动控制命令。 系统（200）还包括刚度估计器（602），其被配置为基于从从设备传感器获得的信息来自动估计由从设备物理接触的材料的刚度。 缩放单元（607）响应于刚度估计器并且被配置用于动态地缩放运动控制命令。
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公开(公告)号：US20090066100A1
公开(公告)日：2009-03-12
申请号：US11850984
申请日：2007-09-06
CPC分类号： B25J11/00 , B25J9/0078 , B25J17/0266 , E04G21/0418 , Y10T74/20207
摘要： An apparatus associated with a cable robot system is provided. In one embodiment, the apparatus includes: an end-effector platform adapted to be positioned and maneuvered within a three-dimensional (3D) workspace, three vertical support members adapted to be positioned outside the 3D workspace, and three adjustable cables adapted to be routed from each vertical support member and releasably secured to the end-effector platform to apply upward and downward tension to the end-effector platform. The adjustable cables are adapted to be adjustably extended and retracted in a coordinated fashion to maneuver the end-effector platform such that an adjustable portion of each adjustable cable spans from the corresponding vertical support member to the end-effector platform. At least two of the adjustable portions associated with each vertical support member are generally in parallel relation to each other.
摘要翻译： 提供了与电缆机器人系统相关联的装置。 在一个实施例中，该装置包括：适于在三维（3D）工作空间内定位和操纵的终端执行器平台，适于定位在3D工作空间外部的三个垂直支撑构件，以及适于被路由的三个可调节电缆 从每个垂直支撑构件并且可释放地固定到末端执行器平台以向末端执行器平台施加向上和向下的张力。 可调节电缆适于以协调的方式可调节地延伸和缩回以操纵末端执行器平台，使得每个可调节电缆的可调节部分从相应的垂直支撑构件跨越到末端执行器平台。 与每个垂直支撑构件相关联的至少两个可调节部分通常彼此平行。
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公开(公告)号：US08639386B2
公开(公告)日：2014-01-28
申请号：US13112366
申请日：2011-05-20
IPC分类号： G05B15/00
CPC分类号： B25J9/1689 , G05B19/409
摘要： An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).
摘要翻译： 用于将人类控制输入手势转换为远程信息处理控制信号的接口（101）包括多个关节臂（107,108,109），每个关节臂（107,108,109）分别安装在基端（113,115,117）到接口基部， 终止于壳体（106）。 铰接臂可操作以允许壳体在三个正交方向上的线性平移运动。 提供第一类型的至少一个传感器（116）用于测量线性平移运动。 枢轴构件（201）设置在壳体中并且布置成围绕单个枢转点枢转。 提供把手（102）并且附接到枢转构件，使得使用者在握住把手时可以使枢轴在壳体内旋转。 提供按钮118以在至少两种模式之间切换，其中当处于第一模式时，控制信号用于控制车辆基座（502），并且当处于第二模式时，控制信号用于控制机器臂 504），其耦合到所述车辆基座（502）。
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公开(公告)号：US08602456B2
公开(公告)日：2013-12-10
申请号：US12963964
申请日：2010-12-09
IPC分类号： F16L27/04
CPC分类号： F16C11/0619 , F16C11/0604 , F16C41/008 , G05G9/047
摘要： A ball joint (1) is provided having a ball housing (10) that defines a socket (11), and a ball pivot (20) with a ball head (22) and ball pin (24), where the ball head (22) is disposed in the socket (11). A ball housing passageway (14) passes through the ball housing (10); a ball pin passageway (25) passes through the ball pin (24), and a ball head passageway (23) passes through the ball head (22). The ball pin passageway (25), ball head passageway (23) and ball housing passageway (14) are in communication with each other for routing a cable (2) through the ball joint (1). A limiter (50) may extend from an internal surface (12) of the socket (11) having a passageway (52) connected to the ball housing passageway (14). The limiter (50) prevents unlimited spinning of the ball head (22) within the socket (11).
摘要翻译： 提供一种球形接头（1），其具有限定了插座（11）的球壳体（10）和具有球头（22）和球销（24）的球形枢轴（20），其中球头 ）设置在插座（11）中。 球壳体通道（14）穿过球壳体（10）; 球销通道（25）穿过球销（24），球头通道（23）穿过球头（22）。 球销通道（25），球头通道（23）和球壳体通道（14）彼此连通，用于将电缆（2）穿过球窝接头（1）。 限制器（50）可以从具有连接到球壳体通道（14）的通道（52）的插座（11）的内表面（12）延伸。 限制器（50）防止球头（22）在插座（11）内的无限制旋转。
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公开(公告)号：US20130046438A1
公开(公告)日：2013-02-21
申请号：US13211739
申请日：2011-08-17
IPC分类号： G06F7/00
CPC分类号： B25J13/025 , A61G5/04 , A61G5/10 , A61G5/1051 , A61G5/1094 , A61G2203/14 , A61G2203/36 , Y10S901/02 , Y10S901/30 , Y10S901/31 , Y10S901/34 , Y10T74/20305
摘要： A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
摘要翻译： 机器手臂安装在诸如轮椅，踏板车等的个人移动设备上，并且还被安装在个人移动设备上的用户输入接口控制。 用户输入接口具有可由使用者操作的抓握部，以在空间和角度上沿多个正交方向移动，具有支撑具有枢轴构件的壳体的铰接臂。
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公开(公告)号：US09026250B2
公开(公告)日：2015-05-05
申请号：US13211739
申请日：2011-08-17
CPC分类号： B25J13/025 , A61G5/04 , A61G5/10 , A61G5/1051 , A61G5/1094 , A61G2203/14 , A61G2203/36 , Y10S901/02 , Y10S901/30 , Y10S901/31 , Y10S901/34 , Y10T74/20305
摘要： A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
摘要翻译： 机器手臂安装在诸如轮椅，踏板车等的个人移动设备上，并且还被安装在个人移动设备上的用户输入接口控制。 用户输入接口具有可由使用者操作的抓握部，以在空间和角度上沿多个正交方向移动，具有支撑具有枢轴构件的壳体的铰接臂。
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