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11. 发明申请

US20100121222A1 SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
标题翻译：通过电力反应动力来感知电动张力
公开(公告)号：US20100121222A1
公开(公告)日：2010-05-13
申请号：US12269552
申请日：2008-11-12
申请人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
发明人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
IPC分类号： A61B5/103
CPC分类号： B25J15/0009 , B25J9/1045 , G01L1/2218 , G01L5/226
摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.
摘要翻译：使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。腱穿过应变计元件和力部件。应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

12. 发明授权

US08056423B2 Sensing the tendon tension through the conduit reaction forces 有权
标题翻译：通过导管反作用力感测肌腱张力
公开(公告)号：US08056423B2
公开(公告)日：2011-11-15
申请号：US12269552
申请日：2008-11-12
申请人： Muhammad E. Abdallah , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
发明人： Muhammad E. Abdallah , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
IPC分类号： G01N3/08
CPC分类号： B25J15/0009 , B25J9/1045 , G01L1/2218 , G01L5/226
摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.
摘要翻译：使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。腱穿过应变计元件和力部件。应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

13. 发明申请

US20120109379A1 ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS 有权
标题翻译：使用强力和基于位置的控制法强力运转机器人手指
公开(公告)号：US20120109379A1
公开(公告)日：2012-05-03
申请号：US12916803
申请日：2010-11-01
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Matthew J. Reiland , Brian Hargrave , Myron A. Diftler , Philip A. Strawser , Chris A. Ihrke
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Matthew J. Reiland , Brian Hargrave , Myron A. Diftler , Philip A. Strawser , Chris A. Ihrke
IPC分类号： G05B15/00
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
摘要翻译：机器人系统包括腱驱动的手指和控制系统。当张力传感器可用时，系统通过基于力的控制律控制手指，并且当传感器不可用时，通过基于位置的控制规律来控制手指。多个腱可以各自具有相应的传感器。当只有一些传感器可用时，系统选择性地将符合值注入基于位置的控制律。控制系统包括主机和具有控制过程的非暂时计算机可读介质，该控制过程由主机通过基于力或基于位置的控制定律来执行以控制手指。用于控制手指的方法包括确定张力传感器的可用性，以及使用控制系统通过力或基于位置的控制律选择性地控制手指。位置控制法允许控制系统抵抗干扰，同时名义上保持内部肌腱张力的初始状态。

14. 发明授权

US08401700B2 Actuator and electronics packaging for extrinsic humanoid hand 有权
标题翻译：执行器和电子包装外部人形手
公开(公告)号：US08401700B2
公开(公告)日：2013-03-19
申请号：US12564124
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , David M. Reich , Scott R. Askew
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , David M. Reich , Scott R. Askew
IPC分类号： G06F19/00 , G05B15/00 , B25J17/00 , B25J5/00
CPC分类号： B25J18/00 , Y10T74/20317 , Y10T74/20335
摘要： The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.
摘要翻译：用于人形机器人的下臂组件包括具有第一侧和第二侧的臂支撑件，安装到臂支撑件的第一侧的多个手腕致动器，安装到臂支撑件的第二侧的多个手指致动器以及还位于臂支撑件的第一侧上的多个电子设备。

15. 发明申请

US20110071673A1 ACTUATOR AND ELECTRONICS PACKAGING FOR EXTRINSIC HUMANOID HAND 有权
标题翻译：执行器和电子包装用于超级人造革
公开(公告)号：US20110071673A1
公开(公告)日：2011-03-24
申请号：US12564124
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , David M. Reich , Scott R. Askew
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , David M. Reich , Scott R. Askew
IPC分类号： B25J17/02 , G06F19/00 , B25J18/00
CPC分类号： B25J18/00 , Y10T74/20317 , Y10T74/20335
摘要： The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.
摘要翻译：用于人形机器人的下臂组件包括具有第一侧和第二侧的臂支撑件，安装到臂支撑件的第一侧的多个手腕致动器，安装到臂支撑件的第二侧的多个手指致动器以及还位于臂支撑件的第一侧上的多个电子设备。

16. 发明授权

US07784363B2 Phalange tactile load cell 有权
标题翻译： Phalange触觉测力传感器
公开(公告)号：US07784363B2
公开(公告)日：2010-08-31
申请号：US12241320
申请日：2008-09-30
申请人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
IPC分类号： G01D7/00
CPC分类号： G01L1/2243 , B25J13/084 , G01L5/226
摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
摘要翻译：一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

17. 发明申请

US20100077867A1 PHALANGE TACTILE LOAD CELL 有权
公开(公告)号：US20100077867A1
公开(公告)日：2010-04-01
申请号：US12241320
申请日：2008-09-30
申请人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
IPC分类号： G01D7/00
CPC分类号： G01L1/2243 , B25J13/084 , G01L5/226
摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
摘要翻译：一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

18. 发明申请

US20110071664A1 HUMAN GRASP ASSIST DEVICE AND METHOD OF USE 有权
标题翻译：人格辅助装置及其使用方法
公开(公告)号：US20110071664A1
公开(公告)日：2011-03-24
申请号：US12564095
申请日：2009-09-22
申请人： Douglas Martin Linn , Chris A. Ihrke , Myron A. Diftler
发明人： Douglas Martin Linn , Chris A. Ihrke , Myron A. Diftler
IPC分类号： B65G7/12 , G06F19/00 , A41D19/00
CPC分类号： B25J9/104 , B25J9/0006 , B25J13/025 , B25J13/085
摘要： A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.
摘要翻译：抓握辅助装置包括具有棘爪环的手套部分，用于测量穿戴手套部分的操作者施加的抓握力的接触传感器和腱驱动系统（TDS）。该装置具有连接到齿根环的柔性腱，用于响应于来自传感器的反馈信号来移动环。 TDS连接到每个腱上，并且经由适于根据抓握力的确定增强张力的微控制器向其施加增强张力。增加操作者的把持力的方法包括使用传感器测量抓握力，将抓握力编码为反馈信号，并且使用微控制器计算增强张力作为反馈信号的函数。该方法包括激励腱驱动系统（TDS）的至少一个致动器，从而施加增强张力。

19. 发明授权

US08255079B2 Human grasp assist device and method of use 有权
标题翻译：人工抓握辅助装置及使用方法
公开(公告)号：US08255079B2
公开(公告)日：2012-08-28
申请号：US12564095
申请日：2009-09-22
申请人： Douglas Martin Linn , Chris A. Ihrke , Myron A. Diftler
发明人： Douglas Martin Linn , Chris A. Ihrke , Myron A. Diftler
IPC分类号： A61H1/00 , G06F7/00 , A63B23/16
CPC分类号： B25J9/104 , B25J9/0006 , B25J13/025 , B25J13/085
摘要： A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.
摘要翻译：抓握辅助装置包括具有棘爪环的手套部分，用于测量穿戴手套部分的操作者施加的抓握力的接触传感器和腱驱动系统（TDS）。该装置具有连接到齿根环的柔性腱，用于响应于来自传感器的反馈信号来移动环。 TDS连接到每个腱上，并且经由适于根据抓握力的确定增强张力的微控制器向其施加增强张力。增加操作者的把持力的方法包括使用传感器测量抓握力，将抓握力编码为反馈信号，并且使用微控制器计算增强张力作为反馈信号的函数。该方法包括激励腱驱动系统（TDS）的至少一个致动器，从而施加增强张力。

20. 发明授权

US08618762B2 System and method for tensioning a robotically actuated tendon 有权
标题翻译：用于张紧机器人致动肌腱的系统和方法
公开(公告)号：US08618762B2
公开(公告)日：2013-12-31
申请号：US13014901
申请日：2011-01-27
申请人： Matthew J. Reiland , Myron A. Diftler
发明人： Matthew J. Reiland , Myron A. Diftler
IPC分类号： B25J15/02 , G05B19/04
CPC分类号： B25J9/1045 , B25J13/088 , B25J15/0009
摘要： A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.
摘要翻译：腱张紧系统包括具有近端和远端的腱，致动器和马达控制器。致动器可以包括驱动螺钉和马达，并且可以与腱的近端联接并且被配置为响应于电流而通过腱施加张力。电动机控制器可以与致动器电耦合，并且被配置为向致动器提供具有第一幅度的电流，直到通过腱实现失速张力; 在实现失速张力之后向致动器提供脉冲电流，其中脉冲电流的幅度大于第一幅度，并且在脉冲电流结束之后将电动机返回到保持电流的稳态。

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