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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：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：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：US20100077867A1
公开(公告)日：2010-04-01
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：US08562049B2
公开(公告)日：2013-10-22
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译： 机器人手包括具有第一，第二和第三趾骨的手指。 第一接头将第一趾部可旋转地连接到基部结构。 第二关节可旋转地将第一趾部连接到第二趾部。 第三关节将第三趾部可旋转地连接到第二趾部。 第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。
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公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：US08467903B2
公开(公告)日：2013-06-18
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：US08255079B2
公开(公告)日：2012-08-28
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：US20110068595A1
公开(公告)日：2011-03-24
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译： 机器人手包括具有第一，第二和第三趾骨的手指。 第一接头将第一趾部可旋转地连接到基部结构。 第二关节可旋转地将第一趾部连接到第二趾部。 第三关节将第三趾部可旋转地连接到第二趾部。 第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。
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公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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