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公开(公告)号：US20160265985A1
公开(公告)日：2016-09-15
申请号：US15064872
申请日：2016-03-09
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Selim Ozel
CPC classification number: G01L1/122 , B25J13/088 , B25J15/12 , G01L5/226 , Y10S901/46
Abstract: A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an “at rest” (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.
Abstract translation: 与传统的刚性构件位移相比，机器人感测和触摸装置检测弹性表面中的逐渐变形。 耦合到可变形基座中的稀土磁体的霍尔效应传感器允许感测表面曲率和对被抓住物体的压缩。 可变形基座，例如硅树脂模具或其他弹性封装，固定磁源和相对的霍尔效应传感器。 接收磁场的校准由“静止”（未变形）状态的传感器元件电压定义，并且由相对于霍尔效应传感器以不同取向拉动磁体的可变形基座的压缩引起的连续变形程度 。 磁体和传感器元件对的阵列允许在用于检测平移或铰接构件的曲率的区域上相对感测，或者与弯曲表面接合。
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公开(公告)号：US11097430B2
公开(公告)日：2021-08-24
申请号：US16176138
申请日：2018-10-31
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Onder Ondemir , Weijia Tao
Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.
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公开(公告)号：US09857245B2
公开(公告)日：2018-01-02
申请号：US15064872
申请日：2016-03-09
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Selim Ozel
CPC classification number: G01L1/122 , B25J13/088 , B25J15/12 , G01L5/226 , Y10S901/46
Abstract: A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an “at rest” (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.
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4.发明申请DESIGN AND FABRICATION OF ROBOTIC MECHANISMS AND SYSTEMS FROM PLANAR SUBSTRATES 审中-公开来自平面基底的机器人机构和系统的设计和制造公开(公告)号：US20160318194A1
公开(公告)日：2016-11-03
申请号：US15095366
申请日：2016-04-11
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Fuchen Chen , Weijia Tao
IPC: B25J19/00 , B62D57/032
Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.
Abstract translation: 机器人配置采用由一系列切割和折叠的平面材料制成的低成本，相对轻重的梁和连杆的系统。 梁沿着折线折叠以从诸如聚酯或其它半刚性片的二维基底形成三维结构。 切割成平面材料的标签和附件或键将与切割成相邻构件的狭缝或孔相接合以限定连接。 连杆包括可以以单向方式插入的突出部，从而防止了移除，而是通过平面片材的弹性和柔性来允许旋转运动。 基于施加在单个平面片上的图案切割并形成梁和连杆的布置。 梁和连杆装置限定了用于运输和其它动作的机器人配置，诸如马达等动作源。
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公开(公告)号：US11865702B2
公开(公告)日：2024-01-09
申请号：US17410719
申请日：2021-08-24
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Onder Ondemir , Weijia Tao
CPC classification number: B25J15/12 , B25J9/0015 , B25J9/104 , B25J9/1075 , B25J15/10
Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.
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Patent Agency Ranking
公开(公告)号：US10478975B2
公开(公告)日：2019-11-19
申请号：US15095366
申请日：2016-04-11
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Fuchen Chen , Weijia Tao
IPC: B25J19/00 , B62D57/032
Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.
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公开(公告)号：US20170322629A1
公开(公告)日：2017-11-09
申请号：US15586684
申请日：2017-05-04
Applicant: Worcester Polytechnic Institute
Inventor： Saraj Pirasmepulkul , Alexander Caracappa , Peerapat Luxsuwong , Cagdas D. Onal , William Michalson , Tri Khuu , Ming Luo
IPC: G06F3/01 , G06F3/0484
CPC classification number: G06F3/016 , G06F3/011 , G06F3/014 , G06F3/017 , G06F3/0346 , G06F3/0484 , G06F2203/0383 , G10H2220/311 , G10H2220/321
Abstract: A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.
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公开(公告)号：US20230337895A1
公开(公告)日：2023-10-26
申请号：US18138049
申请日：2023-04-22
Applicant: Worcester Polytechnic Institute
Inventor： Ahmet Sabuncu , Cagdas D. Onal , Mary Decelles , Hannah Lindsey
CPC classification number: A61B1/00087 , A61B18/1492 , A61B2018/005
Abstract: A colonoscopy screening device includes an elongated flexible probe having a proximal end and a distal end, the distal end adapted for rectal insertion, and an electrode at the distal end and adapted for contact with a suspect tissue growth. A measurement circuit connected to the electrode for measuring an electrical characteristic of the suspect tissue growth based on delivery of an electrical signal from the electrode. A pair of electrodes in an opposed orientation allows an actuator to drawing at least one of the electrodes towards the other electrode for engaging the suspect tissue growth for passing the electrical signal through the suspect tissue growth. Measurement of the resulting signal determines bioelectrical properties of the growth for determination of possible malignancy.
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公开(公告)号：US10551923B2
公开(公告)日：2020-02-04
申请号：US15586684
申请日：2017-05-04
Applicant: Worcester Polytechnic Institute
Inventor： Saraj Pirasmepulkul , Alexander Caracappa , Peerapat Luxsuwong , Cagdas D. Onal , William Michalson , Tri Khuu , Ming Luo
IPC: G06F19/00 , G06F3/01 , G06F3/0484
Abstract: A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.
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公开(公告)号：US20190126497A1
公开(公告)日：2019-05-02
申请号：US16176138
申请日：2018-10-31
Applicant: Worcester Polytechnic Institute
Inventor： Cagdas D. Onal , Onder Ondemir , Weijia Tao
Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object
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