公开(公告)号：US10512583B2

公开(公告)日：2019-12-24

申请号：US14704964

申请日：2015-05-05

Applicant: Sarcos LC

Inventor： Fraser M. Smith

IPC: A61H1/02 ,  A61H3/00 ,  B25J9/00

Abstract: An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.

公开(公告)号：US20180193999A1

公开(公告)日：2018-07-12

申请号：US15786472

申请日：2017-10-17

Applicant: Sarcos LC

Inventor： Stephen C. Jacobsen ,  Fraser M. Smith ,  John McCullough ,  Glenn Colvin, JR. ,  Wayco Scroggin ,  Marc X. Olivier

IPC: B25J3/04 ,  B25J5/00 ,  B25J13/02

CPC classification number: B25J3/04 ,  B25J5/005 ,  B25J13/025

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

公开(公告)号：US09521946B2

公开(公告)日：2016-12-20

申请号：US14248184

申请日：2014-04-08

Applicant: Sarcos LC

Inventor： Stephen C. Jacobsen ,  Fraser M. Smith

IPC: A61B1/00 ,  A61B1/05 ,  A61B1/015

CPC classification number: A61B1/00188 ,  A61B1/0008 ,  A61B1/00082 ,  A61B1/00147 ,  A61B1/00177 ,  A61B1/015 ,  A61B1/05 ,  A61B1/051

Abstract: A catheter configured for imaging objects substantially in focus is described herein. An imaging device is disposed on the distal end of the catheter. The imaging device has an effective focal plane that is located in front of the imaging device. The catheter also includes a transparent focal instrument that has an outer periphery that is positioned at the effective focal plane of the imaging device, to enable objects in contact with the outer periphery of the transparent focal instrument to be imaged substantially in focus.

Abstract translation: 这里描述了配置用于基本上聚焦的成像物体的导管。 成像装置设置在导管的远端。 成像装置具有位于成像装置前方的有效焦平面。 导管还包括透明焦点仪器，其具有位于成像装置的有效焦平面处的外周边，以使得与透明焦点仪器的外周接触的物体能够被基本聚焦成像。

公开(公告)号：US20160252910A1

公开(公告)日：2016-09-01

申请号：US14596008

申请日：2015-01-13

Applicant: Sarcos LC

Inventor： Stephen C. Jacobsen ,  Marc X. Olivier ,  Ralph W. Pensel ,  Fraser M. Smith

IPC: G05D1/02 ,  B64D17/00 ,  B64D1/02 ,  G05D1/00 ,  G05D1/04

CPC classification number: G05D1/0287 ,  B64D1/02 ,  B64D17/00 ,  F41H13/00 ,  F42B12/365 ,  F42B12/58 ,  G05D1/0011 ,  G05D1/0206 ,  G05D1/048 ,  Y10S901/01

Abstract: A method and system for gathering information from and setting up a surveillance network within an earth-surface environment that includes inserting one or more mobile robotic devices having a sensing subsystem, a communications subsystem, and a navigation subsystem into an earth-surface environment. The mobile robotic device may be configured into a traveling pose selected from a plurality of available traveling poses, and directed using the navigation subsystem to a sensing location within the earth-surface environment. The environment may be monitored and sensed information collected may be stored or communicated to a remote location. The mobile robotic device may be configured to operate with a vehicle carrier to facilitate insertion and deployment of the robotic vehicle into the earth-surface environment.

Abstract translation: 一种用于在地球表面环境内收集信息并建立监视网络的方法和系统，其包括将具有感测子系统，通信子系统和导航子系统的一个或多个可移动机器人设备插入到地球表面环境中。 移动机器人装置可以被配置成从多个可用行进姿势中选择的行进姿态，并且使用导航子系统指导到地球表面环境内的感测位置。 可以监测环境并且收集的感测信息可以被存储或传送到远程位置。 移动机器人装置可以被配置为与车辆载体一起操作，以便于将机器人车辆插入和展开到地球表面环境中。

公开(公告)号：US20150323135A1

公开(公告)日：2015-11-12

申请号：US14704960

申请日：2015-05-05

Applicant: Sarcos LC

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Shane Olsen

IPC: F17C13/04

Abstract: A rapidly modulated hydraulic supply is disclosed. The rapidly modulated hydraulic supply can include a chamber for receiving fluid. The rapidly modulated hydraulic supply can also include a displacement member operable to displace the fluid from the chamber. In addition, the rapidly modulated hydraulic supply can include a flow modulation system operable to vary the flow rate of the fluid output from the chamber. A first flow rate corresponds to a first output pressure, and is different from a second flow rate corresponding to a second output pressure for a like movement of the displacement member.

Abstract translation: 公开了一种快速调制的液压源。 快速调制的液压供应可以包括用于接收流体的室。 快速调制的液压供应还可以包括可操作以从腔室移动流体的位移构件。 此外，快速调制的液压供应可以包括流动调节系统，其可操作以改变从室输出的流体的流量。 第一流量对应于第一输出压力，并且不同于用于位移构件的类似运动的对应于第二输出压力的第二流量。

公开(公告)号：US20150321342A1

公开(公告)日：2015-11-12

申请号：US14704872

申请日：2015-05-05

Applicant: Sarcos LC

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J9/00

CPC classification number: B25J9/0009 ,  A61H1/0237 ,  A61H3/00 ,  B25J9/0006 ,  B25J19/005 ,  Y10T74/20305 ,  Y10T74/20317

Abstract: A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.

Abstract translation: 公开了一种腿式机器人装置。 有腿的机器人装置可以包括耦合在一起的多个支撑构件，用于限定多个自由度的相对运动，其可以对应于人腿的自由度。 有腿的机器人装置还可以包括以自由度将力或扭矩施加到支撑构件的致动器。 此外，有腿的机器人装置可以包括与自由度相关联的潜在的能量存储机构，其可操作以由于支撑构件在自由度中的相对运动而存储潜在的能量，并且提供存储的电位的至少一部分 作为补偿力或扭矩来辅助致动器的支撑构件的能量。 一方面，可以存储弹性势能。 潜在能量存储机构的弹簧速率和/或零位置可以是动态变化的。

公开(公告)号：US20150321341A1

公开(公告)日：2015-11-12

申请号：US14704964

申请日：2015-05-05

Applicant: Sarcos LC

Inventor： Fraser M. Smith

IPC: B25J9/00 ,  A61H3/00 ,  A61H1/02

Abstract: An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.

Abstract translation: 公开了一种外骨骼。 外骨骼可以包括围绕关节可旋转地联接在一起的支撑构件。 关节可以定义自由度，其可以对应于人类肢体的自由度，例如髋内侧/外侧旋转，踝内侧/外侧旋转，肩内侧/外侧旋转或手腕旋转/仰卧旋转。 通过人类肢体的一个或多个旁路平面可以与关节相交，以在外骨骼操作期间使第一关节处的重力引起的力矩最小化。

公开(公告)号：US11865705B2

公开(公告)日：2024-01-09

申请号：US16932666

申请日：2020-07-17

Applicant: Sarcos, LC

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J3/04 ,  B25J5/00 ,  B25J13/02 ,  B25J9/16

CPC classification number: B25J3/04 ,  B25J5/005 ,  B25J9/1633 ,  B25J13/025

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

公开(公告)号：US20210069889A1

公开(公告)日：2021-03-11

申请号：US16932666

申请日：2020-07-17

Applicant: Sarcos LC

Inventor： Stephen C. Jacobsen ,  Fraser M. Smith ,  John McCullough ,  Glenn Colvin, JR. ,  Wayco Scroggin ,  Marc X. Olivier

IPC: B25J3/04 ,  B25J5/00 ,  B25J13/02

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

公开(公告)号：US09403566B2

公开(公告)日：2016-08-02

申请号：US14188628

申请日：2014-02-24

Applicant: Sarcos LC

Inventor： Stephen C. Jacobsen ,  Marc X. Olivier ,  John McCullough ,  Fraser M. Smith

IPC: B62D37/04 ,  B62D55/06 ,  B62D59/04 ,  B62D55/065 ,  F41H7/00

CPC classification number: B62D59/04 ,  B62D37/04 ,  B62D55/0655 ,  F41H7/005

Abstract: A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.

Abstract translation: 公开了一种机器人移动小型运输车辆。 车辆可以包括具有框架组件，移动系统和推进系统的第一传送模块和具有框架组件和移动系统的第二传送模块。 多自由度联接组合可以将第一和第二传输模块连接在一起。 车辆可以包括围绕第一运输模块的框架组件支撑的第一平台和围绕第二运输模块的框架组件支撑的第二平台。 可以将每个平台配置为接收运输负载。 另外，车辆可以包括控制系统，其可以操作以促进模块内通信和协调，以提供关于给定地形的第一和第二传输模块和联接组合的协调操作模式。