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.

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.