公开(公告)号：WO2017015235A1

公开(公告)日：2017-01-26

申请号：PCT/US2016/042851

申请日：2016-07-18

Applicant: THE JOHNS HOPKINS UNIVERSITY

Inventor： OLDS, Kevin C. ,  TAYLOR, Russell H.

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B2034/304 ,  B25J9/0051 ,  B25J9/0072 ,  B25J9/1689 ,  B25J13/085

Abstract: A mechanical translation apparatus includes a translation stage and a translation assembly operatively connected to the translation stage so as to impart linear motions to the translation stage substantially free of rotational motions. The translation assembly includes a plurality of at least three arms pivotably connected to the translation stage at a first end of each arm of the plurality of at least three arms. The mechanical translation apparatus also includes a base assembly in which each arm of the plurality of at least three arms is also rotationally connected to the base assembly at a second end of each arm. Each arm of the plurality of at least three arms includes three rigid elongate structures arranged substantially parallel and non-coplanar with respect to each other so as to act in cooperation to cancel torques so that substantially purely linear motion is imparted to the translation stage by the plurality of at least three arms, and the translation assembly constrains motion of the translation stage to be substantially purely translational motion free of rotational motion. A robot includes the mechanical translation apparatus.

Abstract translation: 机械翻译装置包括平移台和平移组件，其可操作地连接到平移台，以便对基本上没有旋转运动的平移台施加线性运动。 平移组件包括在多个至少三个臂的每个臂的第一端处可枢转地连接到平移台的多个至少三个臂。 机械平移装置还包括基座组件，其中多个至少三个臂中的每个臂在每个臂的第二端处也旋转地连接到基座组件。 多个至少三个臂中的每个臂包括相对于彼此基本上平行且非共面布置的三个刚性细长结构，以便协同作用以消除扭矩，使得基本上纯粹的线性运动通过 多个至少三个臂，并且平移组件将平移台的运动限制为基本上纯粹的没有旋转运动的平移运动。 机器人包括机械翻译装置。

公开(公告)号：WO2013067535A1

公开(公告)日：2013-05-10

申请号：PCT/US2012/063611

申请日：2012-11-05

Applicant: THE JOHNS HOPKINS UNIVERSITY

Inventor： OLDS, Kevin C. ,  TAYLOR, Russell H.

IPC: A61B19/00 ,  B25J13/08 ,  B25J19/02 ,  B25J13/04

CPC classification number: A61B34/30 ,  A61B34/74 ,  A61B90/00 ,  A61B2034/304 ,  A61B2090/571 ,  A61F9/00736 ,  B25J9/0051 ,  B25J9/0084 ,  Y10T74/20305 ,  Y10T74/20335

Abstract: A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots.

Abstract translation: 协作控制机器人包括基部部件，靠近基部部件布置的移动平台，可操作地连接到基部部件和移动平台的移动平台，并且被配置为使移动平台以平移自由度基本上相对于 所述组件，连接到移动平台的工具组件以及被配置为与平移组件进行通信以控制移动平台响应于应用于协作控制机器人的至少一部分的用户的力的控制的控制系统 。 翻译组件包括至少三个独立可操作的致动器臂，每个连接到移动平台的单独位置。 机器人系统包括两个或多个协作控制机器人。

公开(公告)号：WO2016057406A1

公开(公告)日：2016-04-14

申请号：PCT/US2015/054024

申请日：2015-10-05

Applicant: THE JOHNS HOPKINS UNIVERSITY

Inventor： TAYLOR, Russell H. ,  OLDS, Kevin C. ,  ARVINE, Guillaume

IPC: A61B19/00

CPC classification number: B25J9/1628 ,  B25J9/1694 ,  Y10S901/09 ,  Y10S901/46

Abstract: According to some embodiments of the present invention, a cooperatively-controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor. The cooperatively-controlled robot further includes a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an actuator in communication with the control system and mechanically coupled to a tool. The force sensor is configured to detect a vibrational force applied on the tool and send a signal to the control system based on the vibrational force. The control system is configured to receive the signal and determine a force to apply to the tool to damp the vibrational force. The control system then signals to the actuator to apply the determined force, and the actuator applies the determined force to actively damp a vibration of the tool.

Abstract translation: 根据本发明的一些实施例，协同控制的机器人包括机器人致动器组件，其包括工具保持器和力传感器。 协同控制的机器人还包括适于与机器人致动器组件和力传感器通信的控制系统，以及与控制系统通信并机械地联接到工具的致动器。 力传感器被配置为检测施加在工具上的振动力，并且基于振动力将信号发送到控制系统。 控制系统被配置为接收信号并且确定施加到工具的力以阻尼振动力。 控制系统然后向致动器发出信号以施加确定的力，并且致动器施加确定的力以主动地阻尼该工具的振动。

公开(公告)号：WO2016201303A1

公开(公告)日：2016-12-15

申请号：PCT/US2016/036990

申请日：2016-06-10

Applicant: THE JOHNS HOPKINS UNIVERSITY

Inventor： BALICKI, Marcin Arkadiusz ,  OLDS, Kevin C. ,  TAYLOR, Russell H.

IPC: A61B34/30 ,  A61B34/00 ,  G01L5/00

CPC classification number: A61B34/30 ,  A61B90/13 ,  A61B2017/0003 ,  A61B2090/064 ,  A61B2090/0818 ,  B25J9/1676 ,  B25J13/085 ,  B25J19/06 ,  G05B2219/39082

Abstract: A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.

Abstract translation: 协同控制的机器人系统包括主机器人组件和包括近端和远端的臂组件。 臂组件在近端连接到主机器人组件。 该系统还包括在远端连接到臂组件的工具组件，在臂组件的远端和工具组件之间的第一力传感器，以及在臂组件的近端和主体之间的第二力传感器 机器人装配。 该系统包括控制系统，其被配置为基于由第二力传感器检测到的力来确定在第一力传感器处施加的力，并且将所确定的力与由第一力传感器检测到的力进行比较，以检测 所述第一和第二力传感器中的至少一个。