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公开(公告)号：US20140371871A1
公开(公告)日：2014-12-18
申请号：US14303229
申请日：2014-06-12
申请人： Georg-August-Universitaet Goettingen Stiffung Oeffentlichen Rechts, Universitaetsmedizin , Otto Bock HealthCare GmbH
IPC分类号： A61F2/54
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb. In particular, the invention is related to a control unit for electrically controlling an electrically controllable limb device, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. The invention further refers to a system comprising such a control unit, a method for controlling an electrically controllable limb device and a computer program.
摘要翻译： 本发明涉及用于人或机器人肢体的假肢形式的肢体装置的控制区域。 特别地，本发明涉及一种用于电控制可控肢体装置的控制单元，该肢体装置包括多个致动器，该控制单元包括用于将控制单元连接到肢体装置的第一接口，该控制单元包括 用于将控制单元连接到包括一个或多个感测装置的数据采集装置的第二接口，所述控制单元包括处理单元，所述处理单元至少基于由所述数据收集装置收集的数据来控制所述肢体装置，其中所述控制 单元被布置为基于从数据收集装置接收到的第一数据或数据组合，向由处理单元计算出的肢体装置的致动器输出单个控制动作步骤，并且控制单元被布置为输出多个控制动作 由处理单元基于第二数据计算出的肢体装置的致动器的步骤 从数据采集装置接收的数据组合，第二数据或数据组合不同于第一数据或数据组合，多个控制动作步骤引起肢体装置的更复杂的自动运动，该单个控制动作步骤。 本发明还涉及一种包括这种控制单元的系统，一种用于控制电控肢体装置和计算机程序的方法。
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公开(公告)号：US20140365009A1
公开(公告)日：2014-12-11
申请号：US14302273
申请日：2014-06-11
发明人： Nicholas Wettels
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J13/082 , B25J13/086 , B25J15/00 , B25J15/0028 , B25J19/023 , G01L5/226 , G05B2219/37002 , G05B2219/39528
摘要： Disclosed is a tactile sensing and integrated vision system that surmounts problems of existing systems. The tactile sensing skin can be formed into any shape, size, or form factor, including large areas. Computer-implemented algorithms can detect position-orientation and force-torque at landmark points for a given object set. The result is a modular sensing system that is highly scalable in terms of price, quantity, size and applications. Such skin technology and associated software can comprise a sensing package that integrates tactile and visual data with accompanying software for state estimation, situational awareness, and automatic control of machinery. The addition of tactile data can serve to constrain and/or augment visual pose estimation methods as well as provide pose estimation to visually occluded objects.
摘要翻译： 公开了一种消除现有系统问题的触觉感知和综合视觉系统。 触觉感觉皮肤可以形成任何形状，尺寸或形状因子，包括大面积。 计算机实现的算法可以检测给定对象集合的地标点处的位置取向和力矩。 结果是在价格，数量，尺寸和应用方面具有高度可扩展性的模块化感测系统。 这种皮肤技术和相关软件可以包括将触觉和视觉数据与用于状态估计，情境感知和机械的自动控制的伴随软件相集成的感测包。 触觉数据的添加可以用于约束和/或增加视觉姿态估计方法，并且向视觉遮挡对象提供姿态估计。
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公开(公告)号：US20120296472A1
公开(公告)日：2012-11-22
申请号：US13575056
申请日：2010-12-03
申请人： Masayuki Nagai
发明人： Masayuki Nagai
CPC分类号： B25J9/1612 , B25J13/085 , G05B2219/39319 , G05B2219/39505 , G05B2219/39528 , G05B2219/39529 , G05B2219/45064
摘要： A force control robot which controls a motion of a robotic arm based on a detection value of a force detector, the force control robot including: the robotic arm having one end as a fixed end and another end as a movable end; an end effector connected to the movable end of the arm through an elastic member, the end effector having a grip driving portion and a grip mechanism portion configured to grip a part; the force detector configured to detect an external force exerted on the grip mechanism portion of the end effector, based on a deformation amount of the elastic member; an end effector controller disposed at the movable end of the arm and configured to control the grip driving portion of the end effector; and a robotic controller configured to control the motion of the arm.
摘要翻译： 一种力控制机器人，其基于力检测器的检测值来控制机器人手臂的运动，所述力控制机器人包括：机器臂，其一端为固定端，另一端为可动端; 末端执行器通过弹性构件连接到臂的可动端，所述端部执行器具有手柄驱动部分和构造成夹持部件的抓握机构部分; 所述力检测器被构造成基于所述弹性构件的变形量来检测施加在所述端部执行器的所述夹持机构部分上的外力; 末端执行器控制器，其设置在所述臂的可移动端处并且被配置为控制所述末端执行器的所述手柄驱动部分; 以及被配置为控制所述臂的运动的机器人控制器。
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4.发明申请TOOL TRANSFER APPARATUS INCLUDING GRIPPING FORCE MEASURING UNIT FOR TOOL HOLDING UNIT OF TOOL MAGAZINE, AND MACHINING SYSTEM 审中-公开工具传送装置，包括工具装置工具装载机械和机械系统的传送力测量装置公开(公告)号：US20160303697A1
公开(公告)日：2016-10-20
申请号：US15097501
申请日：2016-04-13
申请人： FANUC Corporation
发明人： Gaku ISOBE
CPC分类号： B23Q17/005 , B23Q3/15539 , B23Q3/1572 , B23Q3/15722 , B23Q3/15773 , B23Q11/04 , B23Q17/09 , B23Q2003/15527 , G05B2219/39528 , Y10T483/132 , Y10T483/136 , Y10T483/138 , Y10T483/16
摘要： To provide a tool transfer apparatus including gripping force measuring unit for tool holding unit of a tool accommodation apparatus and a machining system including the tool transfer apparatus, a handling robot can perform operation of detaching a tool from a grip positioned at a tool attachment/detachment position of a tool magazine in a machine tool and transferring the tool to a tool stocker, and operation of transferring a tool from the tool stocker and attaching the tool to a grip positioned at the tool attachment/detachment position of the tool magazine. A hand portion of the handling robot is provided with a force sensor, which can detect a load applied to the hand portion. Also, a control apparatus of the handling robot and a control apparatus of the machine tool are connected via a data cable capable of transmission and reception of information.
摘要翻译： 为了提供一种工具传送装置，包括：用于工具容纳装置的工具保持单元的夹持力测量单元和包括该工具传送装置的加工系统，处理机器人可以执行将工具从位于工具安装/拆卸 工具仓在机床中的位置并将工具传送到工具储存器，以及从工具储存器传送工具并将工具附接到位于工具仓的工具安装/拆卸位置的把手的操作。 处理机器人的手部设置有力传感器，其能够检测施加到手部的负载。 此外，处理机器人的控制装置和机床的控制装置通过能够发送和接收信息的数据电缆连接。
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5.发明授权Method and system for calculating weight and center of gravity of object lifted by robot 有权用于计算由机器人抬起的物体重量和重心的方法和系统公开(公告)号：US09399293B2
公开(公告)日：2016-07-26
申请号：US14501586
申请日：2014-09-30
发明人： Wan Jae Shin
CPC分类号： B25J9/1638 , B25J9/1612 , B25J13/082 , B25J13/088 , G05B2219/35124 , G05B2219/39062 , G05B2219/39224 , G05B2219/39498 , G05B2219/39528 , G05B2219/40549 , G05B2219/40599 , G05B2219/40606
摘要： A method for calculating weight and center of gravity of an object lifted by a robot includes lifting an object, measuring a change in angle of each joint through an angle sensor provided for each joint of the gripper in the event of the lifting, and calculating angular velocity and acceleration of each joint, calculating, via a controller, acceleration of the object, measuring an upper pressing force and a lower pressing force using force sensors installed on the joints, and calculating, via the controller, the weight of the object using a vertical component of the acceleration of the object, gravitational acceleration, and the upper and lower pressing forces.
摘要翻译： 用于计算由机器人举起的物体的重量和重心的方法包括提升物体，通过在提升的情况下为夹持器的每个关节设置的角度传感器测量每个接头的角度变化，并计算角度 每个关节的速度和加速度，通过控制器计算物体的加速度，使用安装在关节上的力传感器测量上压力和下压力，以及通过控制器计算物体的重量，使用 物体加速度的垂直分量，重力加速度以及上下压力。
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公开(公告)号：US09050719B2
公开(公告)日：2015-06-09
申请号：US13806426
申请日：2011-05-05
申请人： Harri Valpola , Tuomas Lukka
发明人： Harri Valpola , Tuomas Lukka
CPC分类号： B25J9/00 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/085 , G05B2219/39528 , G05B2219/40053 , G05B2219/40571 , Y10S901/09
摘要： A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined. Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.
摘要翻译： 一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是机器人臂中的空间中的位置或夹持器的取向。首先向机器人手臂或 夹持器以将夹具移动到目标位置。 力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。 确定执行第一指令失败。 从至少一个第一传感器接收第二传感器数据。 从第二传感器数据确定对象的成功夹持。
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公开(公告)号：US20130151007A1
公开(公告)日：2013-06-13
申请号：US13806426
申请日：2011-05-05
申请人： Harri Valpola , Tuomas Lukka
发明人： Harri Valpola , Tuomas Lukka
CPC分类号： B25J9/00 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/085 , G05B2219/39528 , G05B2219/40053 , G05B2219/40571 , Y10S901/09
摘要： A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data.
摘要翻译： 一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是机器人臂中的空间中的位置或夹持器的取向。首先向机器人手臂或 夹持器以将夹具移动到目标位置。 力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。 确定执行第一指令的失败确定从至少一个第一传感器接收第二传感器数据。 从第二传感器数据确定对象的成功夹持。
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公开(公告)号：US20170266019A1
公开(公告)日：2017-09-21
申请号：US15598975
申请日：2017-05-18
申请人： Georg-August-Universitaet Goettingen Stiftung Oeffentlichen Rechts, Universitaetsmedzin , Otto Bock HealthCare GmbH
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb. In particular, the invention is related to a control unit for electrically controlling an electrically controllable limb device, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. The invention further refers to a system comprising such a control unit, a method for controlling an electrically controllable limb device and a computer program.
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公开(公告)号：US09364952B2
公开(公告)日：2016-06-14
申请号：US14505282
申请日：2014-10-02
发明人： Masayuki Arai
CPC分类号： B25J9/1633 , B25J9/1612 , G01L5/0071 , G01L5/226 , G05B2219/39496 , G05B2219/39528
摘要： An end effector base and a finger unit are formed as separate members, and are disposed with a space therebetween. A force sensor is fixed to a finger base of the finger unit, and is disposed with a space between it and the end effector base. Three supporting members are supported by the end effector base, and are configured to be able to be moved by the driving of a driving unit to a position where they support the force sensor and a position where they are separated from the force sensor and support the finger unit.
摘要翻译： 端部执行器基座和指状单元形成为分离的构件，并且在它们之间设置有空间。 力传感器固定在手指单元的手指基部，并且在其与末端执行器底座之间设置有空间。 三个支撑构件由末端执行器基座支撑，并且构造成能够通过驱动单元的驱动而移动到其支撑力传感器的位置以及与力传感器分离的位置，并支撑 手指单位。
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10.发明申请METHOD AND SYSTEM FOR CALCULATING WEIGHT AND CENTER OF GRAVITY OF OBJECT LIFTED BY ROBOT 有权计算机器人提升物体重量和重心的方法与系统公开(公告)号：US20150360368A1
公开(公告)日：2015-12-17
申请号：US14501586
申请日：2014-09-30
发明人： Wan Jae Shin
IPC分类号： B25J9/16
CPC分类号： B25J9/1638 , B25J9/1612 , B25J13/082 , B25J13/088 , G05B2219/35124 , G05B2219/39062 , G05B2219/39224 , G05B2219/39498 , G05B2219/39528 , G05B2219/40549 , G05B2219/40599 , G05B2219/40606
摘要： A method for calculating weight and center of gravity of an object lifted by a robot includes lifting an object, measuring a change in angle of each joint through an angle sensor provided for each joint of the gripper in the event of the lifting, and calculating angular velocity and acceleration of each joint, calculating, via a controller, acceleration of the object, measuring an upper pressing force and a lower pressing force using force sensors installed on the joints, and calculating, via the controller, the weight of the object using a vertical component of the acceleration of the object, gravitational acceleration, and the upper and lower pressing forces.
摘要翻译： 用于计算由机器人举起的物体的重量和重心的方法包括提升物体，通过在提升的情况下为夹持器的每个关节设置的角度传感器测量每个接头的角度变化，并计算角度 每个关节的速度和加速度，通过控制器计算物体的加速度，使用安装在关节上的力传感器测量上压力和下压力，以及通过控制器计算物体的重量，使用 物体加速度的垂直分量，重力加速度以及上下压力。
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