公开(公告)号：US20230321831A1

公开(公告)日：2023-10-12

申请号：US18297525

申请日：2023-04-07

Applicant: California Institute of Technology

Inventor： Aaron D. Ames ,  Andrew W. Singletary ,  Tamas Molnar

IPC: B25J9/16 ,  B25J9/12

CPC classification number: B25J9/1674 ,  B25J9/1653 ,  B25J9/12 ,  B25J9/161 ,  B25J9/163

Abstract: Systems and methods for model-free safety control of robotic platforms in accordance with embodiments of the invention are illustrated. One embodiment includes a robot, including a set of one or more actuators, and at least one sensor. The robot further includes a controller including a set of one or more processors and a memory including a controller application, where the controller application configures the set of processors to control the robot by performing the steps of defining a safe set identifying positions where the robot is safe, determining a control barrier function (CBF) based on the safe set, computing a safe velocity based on the CBF and a current position of the robot such that the robot remains in the safe set, and instructing the robot to track to the safe velocity.

公开(公告)号：US20240245569A1

公开(公告)日：2024-07-25

申请号：US18422871

申请日：2024-01-25

Applicant: California Institute of Technology

Inventor： Lorenzo Franceschini Shaikewitz ,  Maegan Tucker ,  Neil C. Janwani ,  Aaron D. Ames

IPC: A61H3/00 ,  B25J9/00

CPC classification number: A61H3/00 ,  B25J9/0006 ,  A61H2003/007 ,  A61H2205/106

Abstract: A front-leg assistive exoskeleton provides the ability to augment a human gait. A shin mount comprising a material secures to a shin of a person such that the shin mount is enabled to push and pull on the shin in a normal direction. A foot mount attaches to a top of a shoe. A connector connects the shin mount to the foot mount. The connector houses an actuator that applies forces that generates torque about an ankle that modifies a gait of the person.

公开(公告)号：US20230384790A1

公开(公告)日：2023-11-30

申请号：US18324718

申请日：2023-05-26

Applicant: California Institute of Technology

Inventor： Andrew W. Singletary ,  Aaron D. Ames ,  Mohamadreza Ahmadi

IPC: G05D1/02 ,  B60W50/00

CPC classification number: G05D1/0214 ,  B60W50/0098 ,  B60W2552/15 ,  B60W2552/50 ,  B60W2300/40

Abstract: Disclosed herein is a system and method for controlling a moveable device utilizing risk control barrier functions. In one example, a system for controlling a moveable device includes a processor and memory containing programming executable by the processor. The programming is configured to receive various information about the moveable device and receive a risk tolerance for a user and calculate a risk control barrier function. The programming is configured to receive a command from the user to alter the state of the moveable device; calculate a dynamic coherent risk measurement based on the risk tolerance of the user and in respect to the risk control barrier function in respect to the command from the user to alter the state of the moveable device; determine whether the dynamic coherence risk measurement is beyond a tuning parameter at the current state of the moveable device.

公开(公告)号：US12131814B2

公开(公告)日：2024-10-29

申请号：US16938654

申请日：2020-07-24

Applicant: California Institute of Technology

Inventor： Maegan Tucker ,  Aaron D. Ames

IPC: G16H20/30 ,  A61H3/02 ,  G06F3/01

CPC classification number: G16H20/30 ,  A61H3/02 ,  G06F3/016 ,  A61H2201/0173 ,  A61H2201/1207 ,  A61H2201/1621 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/503 ,  A61H2201/5038 ,  A61H2201/5046 ,  A61H2201/5097 ,  A61H2203/04

Abstract: A device providing real-time feedback to users to aid in gait training or other applications where awareness of body position is useful. Embodiments of the device equip patients to regain balance and practice physical therapy exercises in either a clinical setting or at home.

公开(公告)号：US20240061449A1

公开(公告)日：2024-02-22

申请号：US18324042

申请日：2023-11-08

Applicant: California Institute of Technology

Inventor： Aaron D. Ames ,  Andrew W. Singletary

IPC: G05D1/10 ,  B64U50/19 ,  G06F17/17

CPC classification number: G05D1/106 ,  B64U50/19 ,  G06F17/17 ,  B64U2201/10

Abstract: Systems and methods for performing high-speed geofencing in accordance with various embodiments of the invention are disclosed. One embodiment includes a robotics platform including a set of one or more motors, at least one sensor, a controller comprising a set of one or more processors, and a memory containing a controller application and a backup controller application, wherein the controller application configures the set of processors to control the robotics platform by performing the steps of receiving user commands, generating commands controlling the set of one or more motors based on the received commands. The backup controller application configures the set of processors to monitor the controller and intervene as the commands received by the controller direct the robotics platform towards a boundary by performing the steps of defining a safe set identifying positions where the robotics platform is safe, defining an invariant safe set based upon a backup set, where the invariant safe set is a subset of the safe set, and the backup set is a subset of both the invariant safe set and the safe set, receiving commands controlling the set of one or more motors to track to a desired velocity, determining if the robotic platform is approaching, and upon a determination that the robotics platform is approaching a boundary of the invariant safe set, switching control of the motors from the received commands to a combination of the received commands and backup controls generated by the backup controller application.

公开(公告)号：US20210027877A1

公开(公告)日：2021-01-28

申请号：US16938654

申请日：2020-07-24

Applicant: California Institute of Technology

Inventor： Maegan Tucker ,  Aaron D. Ames

IPC: G16H20/30 ,  A61H3/02 ,  G06F3/01

Abstract: A device providing real-time feedback to users to aid in gait training or other applications where awareness of body position is useful. Embodiments of the device equip patients to regain balance and practice physical therapy exercises in either a clinical setting or at home.

公开(公告)号：US10092850B1

公开(公告)日：2018-10-09

申请号：US15648174

申请日：2017-07-12

Applicant: DISNEY ENTERPRISES, INC. ,  THE CALIFORNIA INSTITUTE OF TECHNOLOGY

Inventor： Lanny S. Smoot ,  Gunter D. Niemeyer ,  Aaron D. Ames ,  David Loyal Christensen

IPC: H02K41/02 ,  A63H29/22 ,  A63B43/00 ,  A63H11/00 ,  B25J11/00

Abstract: A robot with an elastic, spherically-shaped body with controlled bouncing locomotion. This robot may be called “a robotic bouncing ball.” The robotic bouncing ball can be used to provide a new class of robotic characters that are ball-like, and these new robotic characters bounce in place and from one location to another. The spherical body will typically be formed with a thin wall of elastic material such as a rubber or the like, and a drive or actuator assembly along with a local controller and a power source are positioned in the interior space of the hollow body. The controller controls the drive assembly to cause the spherical body to bounce up and down vertically and to provide horizontal/lateral movement of the spherical body through the applications of deforming and/or reforming forces on the elastic outer wall.