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公开(公告)号：US09839552B2
公开(公告)日：2017-12-12
申请号：US13347443
申请日：2012-01-10
申请人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, Jr.
发明人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, Jr.
CPC分类号： A61F5/0127 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/149 , A61H2201/1647 , A61H2201/165 , A61H2201/5038 , A61H2201/5069 , A61H2201/5084 , A61H2201/5097 , A61H2205/106 , A61H2205/12
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
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公开(公告)号：US20120259429A1
公开(公告)日：2012-10-11
申请号：US13347443
申请日：2012-01-10
申请人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, JR.
发明人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, JR.
IPC分类号： A61F2/48
CPC分类号： A61F5/0127 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/149 , A61H2201/1647 , A61H2201/165 , A61H2201/5038 , A61H2201/5069 , A61H2201/5084 , A61H2201/5097 , A61H2205/106 , A61H2205/12
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
摘要翻译： 动力装置在步态循环期间使用提供增加扭矩，阻抗或两者的动力致动器来增加人的关节功能，所述动力致动器向关节提供增益扭矩，阻抗或两者，以及控制器，所述控制器调制增加扭矩，阻抗和关节平衡， 到步态循环的阶段以提供至少一种仿生反应。 因此，无论速度和地形如何，该装置能够对穿着者的活动进行响应，使人的生物力学功能正常化或增加。
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公开(公告)号：US20120146569A1
公开(公告)日：2012-06-14
申请号：US13397624
申请日：2012-02-15
申请人： Sun Yalei , Uday Nayak , Richard J. Casler, JR. , Thomas Rohrs
发明人： Sun Yalei , Uday Nayak , Richard J. Casler, JR. , Thomas Rohrs
IPC分类号： G05B19/18
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/50228
摘要： Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.
摘要翻译： 在一个实施例中，示出了用于在第一方向上加速台阶通过间隙高度并且在沿第二方向加速的同时使第一方向上的台减速的方法和系统。 阶段在第三方向上移动，并且在第三方向上继续移动平台之前，确定在第二方向上的舞台移动是否低于阈值。 第一方向垂直于第二方向并且平行并与第三方向相反。
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公开(公告)号：US20100148715A1
公开(公告)日：2010-06-17
申请号：US12334378
申请日：2008-12-12
申请人： Sun Yalei , Uday Nayak , Richard J. Casler, JR. , Thomas Rohrs
发明人： Sun Yalei , Uday Nayak , Richard J. Casler, JR. , Thomas Rohrs
IPC分类号： G05B19/18
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/50228
摘要： Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.
摘要翻译： 在一个实施例中，示出了用于在第一方向上加速台阶通过间隙高度并且在沿第二方向加速的同时使第一方向上的台减速的方法和系统。 阶段在第三方向上移动，并且在第三方向上继续移动平台之前，确定在第二方向上的舞台移动是否低于阈值。 第一方向垂直于第二方向并且平行并与第三方向相反。
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5.发明授权Digital robot control having an improved current sensing system for power amplifiers in a digital robot control 失效数字机器人控制具有用于数字机器人控制中的功率放大器的改进的电流感测系统
公开(公告)号：US4902944A
公开(公告)日：1990-02-20
申请号：US180719
申请日：1988-04-04
申请人： Kenneth E. Daggett , Eimei M. Onaga , Richard J. Casler, Jr. , Richard A. Johnson , Leonard C. Vercellotti
发明人： Kenneth E. Daggett , Eimei M. Onaga , Richard J. Casler, Jr. , Richard A. Johnson , Leonard C. Vercellotti
CPC分类号： B25J13/088 , G05B19/237 , G05B2219/33337 , G05B2219/34466 , G05B2219/37313 , G05B2219/41123 , G05B2219/41426 , G05B2219/42237 , G05B2219/42256 , G05B2219/45083
摘要： A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.
摘要翻译： 多轴机器人的数字控制器包括驱动电机电压控制回路的位置，速度和转矩控制。 脉冲宽度调制控制信号用于操作电源桥中的电源开关，以控制每个机器人关节电机的电流。 在电桥电路中连接一个电阻器，以提供控制回路操作所需的电机电流反馈。
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6.发明授权Digital robot control providing pulse width modulation for a brushless DC drive 失效数字机器人控制为无刷直流驱动提供脉宽调制
公开(公告)号：US4874997A
公开(公告)日：1989-10-17
申请号：US178813
申请日：1988-04-01
CPC分类号： G05B19/237 , B25J13/088 , G05B2219/33337 , G05B2219/34466 , G05B2219/37313 , G05B2219/41123 , G05B2219/41426 , G05B2219/42237 , G05B2219/42256 , G05B2219/45083
摘要： Circuitry is provided for applying a pulse width modulation (PWM) scheme to a brushless DC motor that operates as a robot axis drive. A pulse width modulation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The brushless drive application circuitry provides for application of the PWM control outputs to commutate the motor energization from winding pair to winding pair.
摘要翻译： 提供电路用于将脉冲宽度调制（PWM）方案应用于作为机器人轴驱动器工作的无刷直流电动机。 脉宽调制（PWM）方案提供机器人控制命令的数字实现。 为此，它提供与机器人控制中的位置和速度环路的采样频率同步的时间稳定电流采样。 无刷驱动器应用电路提供PWM控制输出的应用，以将电动机通电从绕组对换成绕组对。
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公开(公告)号：US4763055A
公开(公告)日：1988-08-09
申请号：US932976
申请日：1986-11-20
IPC分类号： G05B19/18 , B25J9/16 , G05B19/414 , B25J1/02 , G06F15/46
CPC分类号： G05B19/4141 , G05B2219/33337 , G05B2219/42256
摘要： A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.
摘要翻译： 数字机器人控制器具有级联位置/速度和转矩控制回路，每个具有微处理器伺服控制器。 伺服控制器包括两个微处理器，它们作为伺服引擎运行，为六个机器人轴提供运动控制。 一个微处理器被构造成执行数据处理和协调任务。 另一个执行计算任务，并作为第一个从属处理器运行。
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公开(公告)号：US08310195B2
公开(公告)日：2012-11-13
申请号：US13397624
申请日：2012-02-15
申请人： Sun Yalei , Uday Nayak , Richard J. Casler, Jr. , Thomas Rohrs
发明人： Sun Yalei , Uday Nayak , Richard J. Casler, Jr. , Thomas Rohrs
IPC分类号： B64C17/062
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/50228
摘要： Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.
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公开(公告)号：US20120283845A1
公开(公告)日：2012-11-08
申请号：US13417949
申请日：2012-03-12
IPC分类号： A61F2/70
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F2002/6664 , A61F2002/6809 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625
摘要： In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
摘要翻译： 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。
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公开(公告)号：US08120304B2
公开(公告)日：2012-02-21
申请号：US12334378
申请日：2008-12-12
申请人： Sun Yalei , Uday Nayak , Richard J. Casler, Jr. , Thomas Rohrs
发明人： Sun Yalei , Uday Nayak , Richard J. Casler, Jr. , Thomas Rohrs
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/50228
摘要： Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.
摘要翻译： 在一个实施例中，示出了用于在第一方向上加速台阶通过间隙高度并且在沿第二方向加速的同时使第一方向上的台减速的方法和系统。 阶段在第三方向上移动，并且在第三方向上继续移动平台之前，确定在第二方向上的舞台移动是否低于阈值。 第一方向垂直于第二方向并且平行并与第三方向相反。
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