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    SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES
    1.
    发明申请
    SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
    通过电力反应动力来感知电动张力

    公开(公告)号：US20100121222A1

    公开(公告)日：2010-05-13

    申请号：US12269552

    申请日：2008-11-12

    申请人： MUHAMMAD E. ABDALLAH ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

    发明人： MUHAMMAD E. ABDALLAH ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

    IPC分类号： A61B5/103

    CPC分类号： B25J15/0009 ,  B25J9/1045 ,  G01L1/2218 ,  G01L5/226

    摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.

    摘要翻译： 使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。 可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。 在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。 力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。 腱穿过应变计元件和力部件。 应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

    Sensing the tendon tension through the conduit reaction forces
    3.
    发明授权
    Sensing the tendon tension through the conduit reaction forces 有权
    通过导管反作用力感测肌腱张力

    公开(公告)号：US08056423B2

    公开(公告)日：2011-11-15

    申请号：US12269552

    申请日：2008-11-12

    申请人： Muhammad E. Abdallah ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

    发明人： Muhammad E. Abdallah ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

    IPC分类号： G01N3/08

    CPC分类号： B25J15/0009 ,  B25J9/1045 ,  G01L1/2218 ,  G01L5/226

    摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.

    摘要翻译： 使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。 可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。 在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。 力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。 腱穿过应变计元件和力部件。 应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

    Torque control of underactuated tendon-driven robotic fingers
    5.
    发明授权
    Torque control of underactuated tendon-driven robotic fingers 有权
    欠肌腱驱动机器人手指的扭矩控制

    公开(公告)号：US08565918B2

    公开(公告)日：2013-10-22

    申请号：US12720727

    申请日：2010-03-10

    申请人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    发明人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    IPC分类号： G06F19/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

    摘要翻译： 机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的 一个实施例中的接头半径。 控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。 通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。 控制器可以利用非对称关节半径来独立地命令关节扭矩。 控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

    Multiple priority operational space impedance control
    10.
    发明授权
    Multiple priority operational space impedance control 有权
    多重优先级操作空间阻抗控制

    公开(公告)号：US08170718B2

    公开(公告)日：2012-05-01

    申请号：US12338697

    申请日：2008-12-18

    申请人： Muhammad E. Abdallah ,  Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Brian Hargrave

    发明人： Muhammad E. Abdallah ,  Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Brian Hargrave

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1653 ,  G05B2219/39343 ,  G05B2219/40352

    摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

    摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。