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    HUMAN GRASP ASSIST DEVICE WITH EXOSKELETON
    1.
    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。

    HUMAN GRASP ASSIST DEVICE SOFT GOODS
    2.
    发明申请
    HUMAN GRASP ASSIST DEVICE SOFT GOODS 有权
    人力资源辅助设备软件

    公开(公告)号：US20130219586A1

    公开(公告)日：2013-08-29

    申请号：US13408668

    申请日：2012-02-29

    申请人： Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Bryan J. Bergelin ,  Lyndon B.J. Bridgwater ,  Heather Bibby ,  Judy Schroeder ,  Craig Erkkila

    发明人： Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Bryan J. Bergelin ,  Lyndon B.J. Bridgwater ,  Heather Bibby ,  Judy Schroeder ,  Craig Erkkila

    IPC分类号： A41D19/00

    CPC分类号： B25J15/08 ,  A41D19/0024 ,  A41D19/01547 ,  A41D19/01582 ,  B25J15/02

    摘要： A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.

    摘要翻译： 抓握辅助系统包括手套和柔性套筒。 手套包括诸如手指或拇指的数字，力传感器，其构造成测量由佩戴手套的操作者施加到物体的抓握力，以及相对于该位置定位的可调节的齿环。 鞍座相对于手指定位。 柔性腱在鞍座周围的一端环绕。 导管包含肌腱。 固定在手套的手掌内的导管锚接收导管。 套筒具有包含连接到腱的另一端的致动器组件和控制器的口袋。 控制器与力传感器连通，并根据测得的抓力计算拉力。 控制器命令来自致动器组件的张力拉紧肌腱，从而移动手指。

    Human grasp assist device with exoskeleton
    4.
    发明授权
    Human grasp assist device with exoskeleton 有权
    人体把握辅助装置与外骨骼

    公开(公告)号：US08849453B2

    公开(公告)日：2014-09-30

    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： G07F19/00 ,  A61B5/103

    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。

    HUMAN GRASP ASSIST DEVICE AND METHOD OF USE
    9.
    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。