公开(公告)号：US10449654B2

公开(公告)日：2019-10-22

申请号：US15756423

申请日：2016-09-01

Applicant: NANYANG TECHNOLOGICAL UNIVERSITY

Inventor： Domenico Campolo ,  Gia-Hoang Phan ,  Asif Hussain

IPC: G01L5/10 ,  B24B49/16 ,  B24B27/027 ,  G01L1/00 ,  G01L3/04

Abstract: An instrumented tool for surface finishing of a work-piece, the instrumented tool comprising: a tool configured to be spun and brought into contact with the work-piece while spinning; a spindle configured to provide a spinning torque to spin the tool; a flexible coupler provided between the spindle and the tool to transmit only spinning torque of the spindle to the tool; a rigid connection provided between the spindle and the tool in parallel to the flexible coupler; and a multi-axis force/torque/strain/pressure sensor attached to at least the rigid connection; wherein the rigid connection and the multi-axis force/torque sensor are decoupled from spinning of the spindle and the tool, and wherein the multi-axis force/torque sensor is configured to measure at least one of: contact force and torque between the tool and the work-piece.

公开(公告)号：US09199734B2

公开(公告)日：2015-12-01

申请号：US14014921

申请日：2013-08-30

Applicant: NANYANG TECHNOLOGICAL UNIVERSITY

Inventor： Domenico Campolo ,  Gih Keong Lau ,  Muhammad Azhar

IPC: B64C39/02 ,  B64C33/02

CPC classification number: B64C39/028 ,  B64C33/02

Abstract: A motorized device arranged to move using cyclic motion is disclosed. The device includes a motorized means; at least one limb coupled to the motorized means, and configured to be driven by the motorized means for moving the device; and a resilient biasing means coupled to the at least one limb to further drive the at least one limb using mechanical resonance. A related method of moving the motorized device is also disclosed.

Abstract translation: 公开了一种使用循环运动来移动的电动装置。 该装置包括机动装置; 耦合到所述机动装置的至少一个肢体，并且构造成由所述机动装置驱动以移动所述装置; 以及耦合到所述至少一个肢体的弹性偏置装置，以使用机械共振进一步驱动所述至少一个肢体。 还公开了移动电动装置的相关方法。

公开(公告)号：US12220814B2

公开(公告)日：2025-02-11

申请号：US18083231

申请日：2022-12-16

Applicant: Delta Electronics Int'l (Singapore) Pte Ltd ,  Nanyang Technological University

Inventor： Domenico Campolo ,  Sreekanth Kana ,  Juhi Gurnani ,  Vishal Padmanabhan Ramanathan ,  Mohammad Zaidi Bin Ariffin ,  Sri Harsha Turlapati ,  Tzu-Yi Hung

IPC: B25J3/00 ,  B25J9/16

Abstract: The present disclosure provides a master-slave robot arm control system and method. The control method includes steps of: (a) providing a master and a slave robot arms; (b) executing a robot arm demonstration task, wherein the step (b) includes steps of: (b1) utilizing the slave robot arm to output a force feedback; (b2) generating an action command by operating the master robot arm; (b3) calculating and generating a movement command; (b4) controlling the slave robot arm to move and to generate a movement trajectory and the force feedback correspondingly; (c) repeating the step (b) to collect a plurality of movement trajectories of the slave robot arm; (d) utilizing a statistic module to analyze the plurality of movement trajectories; (e) generating an optimized trajectory of the slave robot arm; and (f) controlling the slave robot arm to execute a robot arm task.

公开(公告)号：US20240198509A1

公开(公告)日：2024-06-20

申请号：US18083231

申请日：2022-12-16

Applicant: Delta Electronics Int'l (Singapore) Pte Ltd ,  Nanyang Technological University

Inventor： Domenico Campolo ,  Sreekanth Kana ,  Juhi Gurnani ,  Vishal Padmanabhan Ramanathan ,  Mohammad Zaidi Bin Ariffin ,  Sri Harsha Turlapati ,  Tzu-Yi Hung

IPC: B25J3/00 ,  B25J9/16

CPC classification number: B25J3/00 ,  B25J9/1605 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1687

Abstract: The present disclosure provides a master-slave robot arm control system and method. The control method includes steps of: (a) providing a master and a slave robot arms; (b) executing a robot arm demonstration task, wherein the step (b) includes steps of: (b1) utilizing the slave robot arm to output a force feedback; (b2) generating an action command by operating the master robot arm; (b3) calculating and generating a movement command; (b4) controlling the slave robot arm to move and to generate a movement trajectory and the force feedback correspondingly; (c) repeating the step (b) to collect a plurality of movement trajectories of the slave robot arm; (d) utilizing a statistic module to analyze the plurality of movement trajectories; (e) generating an optimized trajectory of the slave robot arm; and (f) controlling the slave robot arm to execute a robot arm task.

公开(公告)号：US09847045B2

公开(公告)日：2017-12-19

申请号：US14650544

申请日：2013-12-10

Applicant: NANYANG TECHNOLOGICAL UNIVERSITY

Inventor： Domenico Campolo ,  Ferdinan Widjaja ,  Julius Klein Hubert

IPC: G09B23/28 ,  A61H1/02 ,  A63B21/005 ,  A63B23/12 ,  A63B24/00 ,  A63B22/00 ,  A63B71/06 ,  A63B21/00

CPC classification number: G09B23/28 ,  A61H1/0274 ,  A61H2201/0157 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1246 ,  A61H2201/149 ,  A61H2201/1635 ,  A61H2201/1638 ,  A61H2201/1666 ,  A61H2201/5007 ,  A61H2201/5043 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5092 ,  A63B21/00178 ,  A63B21/00181 ,  A63B21/0058 ,  A63B21/4035 ,  A63B21/4043 ,  A63B21/4047 ,  A63B23/12 ,  A63B24/0087 ,  A63B2022/0094 ,  A63B2024/0096 ,  A63B2071/0655 ,  A63B2220/10 ,  A63B2220/51 ,  A63B2220/54 ,  A63B2220/805

Abstract: There is provided an apparatus for upper body movement. The apparatus comprises a H-shaped cable-driven mechanism; two motors for driving the H-shaped cable-driven mechanism; and a manipulandum coupled to the H-shaped cable-driven mechanism for independent movement along x and y axes.