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21. 发明授权

US06367902B1 Effector platform for performing actions over vertical surfaces 有权
标题翻译：用于在垂直表面上执行动作的效果平台
公开(公告)号：US06367902B1
公开(公告)日：2002-04-09
申请号：US09450484
申请日：1999-11-29
申请人： Eric Saund , Mark H. Yim , Kenneth P. Fishkin , Daniel L. Larner , Thomas P. Moran
发明人： Eric Saund , Mark H. Yim , Kenneth P. Fishkin , Daniel L. Larner , Thomas P. Moran
IPC分类号： B41J29393
CPC分类号： B43L13/10 , B43K23/02 , B43L13/02
摘要： The Pendulum Whiteboard Printer is an effector platform for a fully-automatic robotic device for marking or otherwise effecting whiteboards, pinboards, or other vertical surfaces The effector platform is designed to be suspended by two suspension wires whose lengths are adjusted by motorized spindles mounted above and on either side of the board surface. The position of the effector platform is adjusted by winding and unwinding the wires. Electrical power is supplied to the effector platform through the suspension wires or from an on-board battery. Control of a pen and/or other apparatus on the effector platform is achieved through modulation of the power voltage. The effector platform may be fitted with a variety of end effectors such as dry-erase markers, gripping elements, and squeegees.
摘要翻译：摆锤白板打印机是用于标记或以其他方式影响白板，插板或其他垂直表面的全自动机器人设备的效应器平台。效应器平台设计为由两根悬挂线悬挂，其长度由安装在上方的电动主轴调节，在板表面的任一侧。通过缠绕和展开电线来调节效应器平台的位置。电力通过悬挂线或车载电池供应到效应器平台。通过调节电源电压来实现对效应器平台上笔和/或其他设备的控制。效应器平台可以装配有各种终端执行器，例如干擦标记，夹紧元件和刮板。

22. 发明授权

US06275213B1 Tactile feedback man-machine interface device 有权
标题翻译：触觉反馈人机界面设备
公开(公告)号：US06275213B1
公开(公告)日：2001-08-14
申请号：US09561782
申请日：2000-05-01
申请人： Mark R. Tremblay , Mark H. Yim
发明人： Mark R. Tremblay , Mark H. Yim
IPC分类号： G09G500
CPC分类号： G06F3/016 , G06F3/011 , G06F3/014 , G06F3/0484 , G10H1/34 , G10H2220/321 , G10L15/22 , G10L2015/225
摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
摘要翻译：公开了一种向各种感测体部件提供触觉反馈的人机界面。该装置采用一个或多个振动触觉单元，其中每个单元包括质量块和质量移动致动器。当质量由质量移动致动器加速时，整个振动触觉单元振动。因此，振动触觉单元将振动刺激传递到其所固定的感测体部分。振动触觉单元可以与测量测量的身体部位的空间放置的空间放置感测装置结合使用。计算装置使用所测量的身体部位的空间放置来确定由振动触觉单元提供的期望的振动刺激。以这种方式，计算装置可以响应于所测量的身体部分的运动来控制由对应的感测体部分感知的振动反馈的水平。感测体部分和测量的身体部分可以是分开的或相同的身体部分。

23. 发明授权

US06233502B1 Fault tolerant connection system for transiently connectable modular elements 有权
标题翻译：用于瞬态可连接模块化元件的容错连接系统
公开(公告)号：US06233502B1
公开(公告)日：2001-05-15
申请号：US09173969
申请日：1998-10-16
申请人： Mark H. Yim
发明人： Mark H. Yim
IPC分类号： G06F1900
CPC分类号： H04L41/00 , G05B2219/39146 , Y10T403/34 , Y10T403/341 , Y10T403/342 , Y10T403/343 , Y10T403/344 , Y10T403/345 , Y10T403/347
摘要： A system and method for transiently connecting modular elements of a self movable robot. The self movable robot is known as metamorphosing robots, polymorphic robots, shape changing robots, or morphable structures. The modular elements can act together to build a structure to perform a given task. Each modular robotic module contains a mechanism allowing for communication and transfer of power between adjacent modules, and defining a robot whole to be all the modules in one connected component.
摘要翻译：一种用于瞬时连接自动移动机器人的模块化元件的系统和方法。自动移动机器人被称为变形机器人，多机器人，变形机器人或变形结构。模块化元素可以一起起作用来构建一个执行给定任务的结构。每个模块化机器人模块包含允许在相邻模块之间通信和传递功率的机构，并且将机器人整体定义为一个连接部件中的所有模块。

24. 发明授权

US06603281B2 High mechanical advantage ratcheting apparatus 有权
标题翻译：高机械优势棘轮机
公开(公告)号：US06603281B2
公开(公告)日：2003-08-05
申请号：US09945004
申请日：2001-08-31
申请人： Mark H. Yim , David G. Duff
发明人： Mark H. Yim , David G. Duff
IPC分类号： G05B1101
CPC分类号： B25J9/1625 , B25J9/08 , B25J9/1617 , G05B2219/39128 , G05B2219/40281 , G05B2219/40333 , G05B2219/41342
摘要： A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity includes a plurality of modular joints and ratcheting means. Each one of the modular joints is capable of locking and unlocking to effect performance of a ratcheting motion as the ratcheting apparatus approaches a mechanical singularity. A plurality of links is connected to the modular joints in such a way as to permit movement of the links while under large external forces as the joint approaches a point of mechanical singularity. A control system directs movement of the modular joints and links.
摘要翻译：具有刚性地附接以用于在机械奇点附近操作的机器人模块的可控棘轮装置包括多个模块化接头和棘轮装置。当棘轮装置接近机械奇点时，每个模块化关节能够锁定和解锁以实现棘轮运动的执行。多个连杆以这样的方式连接到模块化接头，以便当接头接近机械奇异点时允许链条在大的外力作用下移动。控制系统引导模块化接头和连杆的移动。

25. 发明授权

US06413229B1 Force-feedback interface device for the hand 有权
标题翻译：力反馈界面装置为手
公开(公告)号：US06413229B1
公开(公告)日：2002-07-02
申请号：US09501015
申请日：2000-02-09
申请人： James F. Kramer , Mark H. Yim , Marc R. Tremblay , Daniel H. Gomez
发明人： James F. Kramer , Mark H. Yim , Marc R. Tremblay , Daniel H. Gomez
IPC分类号： A61B500
CPC分类号： A61B5/225 , G06F3/011 , G06F3/014 , G06F3/016
摘要： A man-machine interface is disclosed which provides force information to sensing body parts. The interface is comprised of a force-generating device (106) that produces a force which is transmitted to a force-applying device (102) via force-transmitting means (104). The force-applying device applies the generated force to a sensing body part. A force sensor associated with the force-applying device and located in the force applicator (126) measures the actual force applied to the sensing body part, while angle sensors (136) measure the angles of relevant joint body parts. A force-control unit (108) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The force-control unit combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device.
摘要翻译：公开了一种人机界面，其提供用于感测身体部位的力信息。该界面由产生通过力传递装置（104）传递到施力装置（102）的力的力产生装置（106）组成。施力装置将产生的力施加到感测体部。与力施加装置相关联并且位于力施加器（126）中的力传感器测量施加到感测体部分的实际力，而角度传感器136测量相关关节体部分的角度。力控制单元（108）使用关节本体部位置信息来确定要施加到感测体部分的期望力值。力控制单元将接合体部位位置信息与力传感器信息相结合，计算发送给力产生装置的力指令。

26. 发明授权

US06378634B1 Tracking device 有权
标题翻译：跟踪装置
公开(公告)号：US06378634B1
公开(公告)日：2002-04-30
申请号：US09722630
申请日：2000-11-28
申请人： Mark H. Yim
发明人： Mark H. Yim
IPC分类号： B62D5700
CPC分类号： B62D57/00
摘要： A tracking device includes an external member and an internal member rotatable relative to the external member. A motor is attached to the internal member and includes a rotor shaft attached to the external member. A pair of target sensors that sense a phenomenon such as a magnetic field, sound, light or RF radiation, provide input to a controller that controls rotation of the motor. Angular acceleration of the internal member will cause an equal and opposite angular acceleration of the external member and the tracking device will roll toward the target. The tracking device may hop by suddenly stopping the rotation of the internal member or by suddenly decreasing or increasing the acceleration of the motor or by inserting a linkage fixed to the external member into the rotation path of the internal member.
摘要翻译：跟踪装置包括外部构件和可相对于外部构件旋转的内部构件。电动机附接到内部构件，并且包括附接到外部构件的转子轴。感测诸如磁场，声音，光或RF辐射的现象的一对目标传感器向控制器提供输入，该控制器控制电机的旋转。内部构件的角加速度将导致外部构件的相等且相反的角加速度，并且跟踪装置将朝向目标滚动。跟踪装置可能突然停止内部构件的旋转或突然降低或增加电动机的加速度，或者将固定在外部构件上的连杆插入内部构件的旋转路径中。

27. 发明授权

US6042555A Force-feedback interface device for the hand 失效
标题翻译：力反馈界面装置为手
公开(公告)号：US6042555A
公开(公告)日：2000-03-28
申请号：US76617
申请日：1998-05-12
申请人： James F. Kramer , Mark H. Yim , Marc R. Tremblay , Daniel H. Gomez
发明人： James F. Kramer , Mark H. Yim , Marc R. Tremblay , Daniel H. Gomez
IPC分类号： A61B5/00 , A61B5/22 , G06F3/01
CPC分类号： A61B5/225 , G06F3/011 , G06F3/014 , G06F3/016
摘要： A man-machine interface is disclosed which provides force information to sensing body parts. The interface is comprised of a force-generating device (106) that produces a force which is transmitted to a force-applying device (102) via force-transmitting means (104). The force-applying device applies the generated force to a sensing body part. A force sensor associated with the force applies device and located in the force applicator (126) measures the actual force applies to the sensing body part, while angle sensors (136) measure the angles of relevant joint body parts. A force-control unit (108) uses the joint body part position information to determine a desired force value to be applies to the sensing body part. The force-control unit combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device.
摘要翻译：公开了一种人机界面，其提供用于感测身体部位的力信息。该界面由产生通过力传递装置（104）传递到施力装置（102）的力的力产生装置（106）组成。施力装置将产生的力施加到感测体部。与力施加相关联的力传感器并且位于力施加器（126）中的力传感器测量施加到感测体部分的实际力，而角度传感器136测量相关关节体部分的角度。力控制单元（108）使用关节本体部位置信息来确定要应用于感测体部的期望力值。力控制单元将接合体部位位置信息与力传感器信息相结合，计算发送给力产生装置的力指令。

28. 发明授权

US08368641B2 Tactile feedback man-machine interface device 有权
公开(公告)号：US08368641B2
公开(公告)日：2013-02-05
申请号：US11981256
申请日：2007-10-30
申请人： Marc R. Tremblay , Mark H. Yim
发明人： Marc R. Tremblay , Mark H. Yim
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F3/011 , G06F3/014 , G06F3/0484 , G10H1/34 , G10H2220/321 , G10L15/22 , G10L2015/225
摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.

29. 发明授权

US07969416B2 Tactile feedback man-machine interface device 有权
标题翻译：触觉反馈人机界面设备
公开(公告)号：US07969416B2
公开(公告)日：2011-06-28
申请号：US11981228
申请日：2007-10-30
申请人： Marc R. Tremblay , Mark H. Yim
发明人： Marc R. Tremblay , Mark H. Yim
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F3/011 , G06F3/014 , G06F3/0484 , G10H1/34 , G10H2220/321 , G10L15/22 , G10L2015/225
摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
摘要翻译：公开了一种向各种感测体部件提供触觉反馈的人机界面。该装置采用一个或多个振动触觉单元，其中每个单元包括质量块和质量移动致动器。当质量由质量移动致动器加速时，整个振动触觉单元振动。因此，振动触觉单元将振动刺激传递到其所固定的感测体部分。振动触觉单元可以与测量测量的身体部分的空间放置的空间放置感测装置结合使用。计算装置使用所测量的身体部位的空间放置来确定由振动触觉单元提供的期望的振动刺激。以这种方式，计算装置可以响应于所测量的身体部分的运动来控制由对应的感测体部分感知的振动反馈的水平。感测体部分和测量的身体部分可以是分开的或相同的身体部分。

30. 发明授权

US07755602B2 Tactile feedback man-machine interface device 有权
标题翻译：触觉反馈人机界面设备
公开(公告)号：US07755602B2
公开(公告)日：2010-07-13
申请号：US10460157
申请日：2003-06-13
申请人： Mark R. Tremblay , Mark H. Yim
发明人： Mark R. Tremblay , Mark H. Yim
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F3/011 , G06F3/014 , G06F3/0484 , G10H1/34 , G10H2220/321 , G10L15/22 , G10L2015/225
摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
摘要翻译：公开了一种向各种感测体部件提供触觉反馈的人机界面。该装置采用一个或多个振动触觉单元，其中每个单元包括质量块和质量移动致动器。当质量由质量移动致动器加速时，整个振动触觉单元振动。因此，振动触觉单元将振动刺激传递到其所固定的感测体部分。振动触觉单元可以与测量测量的身体部分的空间放置的空间放置感测装置结合使用。计算装置使用所测量的身体部位的空间放置来确定由振动触觉单元提供的期望的振动刺激。以这种方式，计算装置可以响应于所测量的身体部分的运动来控制由对应的感测体部分感知的振动反馈的水平。感测体部分和测量的身体部分可以是分开的或相同的身体部分。

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