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31. 发明授权

US09067325B2 Human grasp assist device soft goods 有权
标题翻译：人工抓握辅助装置软货
公开(公告)号：US09067325B2
公开(公告)日：2015-06-30
申请号：US13408668
申请日：2012-02-29
申请人： Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Bryan Bergelin , Lyndon B. J. Bridgwater , Heather Bibby , Judy Schroeder , Craig Erkkila
发明人： Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Bryan Bergelin , Lyndon B. J. Bridgwater , Heather Bibby , Judy Schroeder , Craig Erkkila
IPC分类号： G06F7/00 , A61H1/00 , A63B23/16 , B25J15/08 , B25J15/02 , A41D19/015 , A41D19/00
CPC分类号： B25J15/08 , A41D19/0024 , A41D19/01547 , A41D19/01582 , B25J15/02
摘要： A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.
摘要翻译：抓握辅助系统包括手套和柔性套筒。手套包括诸如手指或拇指的数字，力传感器，其构造成测量由佩戴手套的操作者施加到物体的抓握力，以及相对于该位置定位的可调节的齿环。鞍座相对于手指定位。柔性腱在鞍座周围的一端环绕。导管包含肌腱。固定在手套的手掌内的导管锚接收导管。套筒具有包含连接到腱的另一端的致动器组件和控制器的口袋。控制器与力传感器连通，并根据测得的抓力计算拉力。控制器命令来自致动器组件的张力拉紧肌腱，从而移动手指。

32. 发明授权

US08849453B2 Human grasp assist device with exoskeleton 有权
标题翻译：人体把握辅助装置与外骨骼
公开(公告)号：US08849453B2
公开(公告)日：2014-09-30
申请号：US13408656
申请日：2012-02-29
申请人： Bryan J Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Lyndon B. J. Bridgwater
发明人： Bryan J Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Lyndon B. J. Bridgwater
IPC分类号： G07F19/00 , A61B5/103
CPC分类号： B25J9/0006
摘要： A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.
摘要翻译：抓握辅助系统包括手套，致动器组件和控制器。手套包括数字，即手指或拇指，以及力传感器。传感器测量穿戴手套的操作者施加到物体的抓握力。齿轮环相对于数字定位。柔性腱在一端与其中一个环连接，并通过其余的环路。相对于数字定位的外骨骼包括各自连接到对应环的铰接互连构件和/或单个开槽材料。致动器组件连接到腱的另一端。控制器响应于测量到的抓持力计算拉力，并且指示来自致动器组件的拉力从而拉动腱。外骨骼从操作者的手指向手套卸载一些张力。

33. 发明授权

US08813347B2 Method of manufacturing a load cell assembly and methods of folding a circuit device 有权
标题翻译：制造称重传感器组件的方法和折叠电路装置的方法
公开(公告)号：US08813347B2
公开(公告)日：2014-08-26
申请号：US13589220
申请日：2012-08-20
申请人： Roland J. Menassa , Pamela R. Patterson , Geoffrey P. McKnight , Guillermo A. Herrera , Hung D. Nguyen , Douglas Martin Linn , Chris A. Ihrke
发明人： Roland J. Menassa , Pamela R. Patterson , Geoffrey P. McKnight , Guillermo A. Herrera , Hung D. Nguyen , Douglas Martin Linn , Chris A. Ihrke
IPC分类号： H01C17/28
CPC分类号： G01L1/22 , G01L5/009 , G01L5/226 , H05K1/0268 , H05K1/189 , H05K2201/056 , H05K2201/10151 , H05K2203/163 , Y10T29/49002 , Y10T29/4902 , Y10T29/49103
摘要： A method of manufacturing a load cell assembly and methods of folding a circuit device are disclosed. A flexible circuit body including a strip having at least one hinge is provided, with the strip being in a first position or an unfolded position. A plurality of strain gauges are attached to the strip, with the hinge disposed between the strain gauges. A jig is provided and the strip of the flexible circuit body is folded along the hinge utilizing the jig to define a second position or folded position of the strip.
摘要翻译：公开了一种制造称重传感器组件的方法和折叠电路装置的方法。提供一种柔性电路体，其包括具有至少一个铰链的条带，带材处于第一位置或展开位置。多个应变计连接到条上，铰链位于应变计之间。设置夹具，并且利用夹具将柔性电路体的条带沿着铰链折叠以限定条带的第二位置或折叠位置。

34. 发明申请

US20130219586A1 HUMAN GRASP ASSIST DEVICE SOFT GOODS 有权
标题翻译：人力资源辅助设备软件
公开(公告)号：US20130219586A1
公开(公告)日：2013-08-29
申请号：US13408668
申请日：2012-02-29
申请人： Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Bryan J. Bergelin , Lyndon B.J. Bridgwater , Heather Bibby , Judy Schroeder , Craig Erkkila
发明人： Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Bryan J. Bergelin , Lyndon B.J. Bridgwater , Heather Bibby , Judy Schroeder , Craig Erkkila
IPC分类号： A41D19/00
CPC分类号： B25J15/08 , A41D19/0024 , A41D19/01547 , A41D19/01582 , B25J15/02
摘要： A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.
摘要翻译：抓握辅助系统包括手套和柔性套筒。手套包括诸如手指或拇指的数字，力传感器，其构造成测量由佩戴手套的操作者施加到物体的抓握力，以及相对于该位置定位的可调节的齿环。鞍座相对于手指定位。柔性腱在鞍座周围的一端环绕。导管包含肌腱。固定在手套的手掌内的导管锚接收导管。套筒具有包含连接到腱的另一端的致动器组件和控制器的口袋。控制器与力传感器连通，并根据测得的抓力计算拉力。控制器命令来自致动器组件的张力拉紧肌腱，从而移动手指。

35. 发明授权

US08276958B2 Bidirectional tendon terminator 有权
标题翻译：双向肌腱终止子
公开(公告)号：US08276958B2
公开(公告)日：2012-10-02
申请号：US12269579
申请日：2008-11-12
申请人： Chris A. Ihrke , Douglas Martin Linn , Lyndon Bridgwater
发明人： Chris A. Ihrke , Douglas Martin Linn , Lyndon Bridgwater
IPC分类号： B25J15/00 , B66C1/00
CPC分类号： B25J15/0009 , B25J9/1075 , Y10T74/20329 , Y10T74/20335
摘要： A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.
摘要翻译：双向肌腱终止器，其具有用于终止在机器臂中致动手指的腱的特定应用。腱终端器包括具有内部通道的圆柱形构件，单个连续的腱延伸穿过该内部通道。腱终端器的内部通道包括加宽部分。一个球被放置在肌腱股线中，这导致腱膨胀，并且球定位在通道的加宽部分内。根据肌腱被牵引的方向，拉动肌腱操作以打开或关闭机器手臂的手指。在一个具体实施例中，气缸包括两个联接在一起的圆柱形件，使得球可以定位在通道内，并且圆柱形构件具有整个材料周长。

36. 发明申请

US20110067520A1 ROBOTIC THUMB ASSEMBLY 有权
标题翻译：机动车组件
公开(公告)号：US20110067520A1
公开(公告)日：2011-03-24
申请号：US12564085
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt , Charles W. Wampler, II , S. Michael Goza
发明人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt , Charles W. Wampler, II , S. Michael Goza
IPC分类号： B25J17/00
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20329
摘要： An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.
摘要翻译：提供了一种用于机器人手组件的改进的机器人拇指。根据本公开的一个方面，机器人拇指中的改进的腱路径仅提供五个腱的四个自由度的控制。根据本公开的另一方面，人体拇指的五个自由度中的一个在机器人拇指中被替换为具有趾骨形状的永久扭转。根据本公开的另一方面，一种位置传感器包括具有形状为具有不同中心点的圆形段的两个部分的磁体。磁铁提供了霍尔效应传感器的线性化输出。

37. 发明申请

US20100081969A1 TENDON TENSION SENSOR 有权
标题翻译： TENDON张力传感器
公开(公告)号：US20100081969A1
公开(公告)日：2010-04-01
申请号：US12241309
申请日：2008-09-30
申请人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt
发明人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt
IPC分类号： A61B5/103
CPC分类号： G01L5/102 , B25J9/1045
摘要： A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.
摘要翻译：一种肌腱张力传感器，其具有用于测量在机器臂中使用的腱上的张力的特定应用。张力传感器包括具有弯曲通道的弹性元件，腱穿过该弯曲通道。弹性元件还包括中心部分，在该中心部分上安装有测量弹性元件上的应变的应变计。腱上的张力导致弹性元件的中心部分弯曲或弯曲，这是由应变计测得的，提供了肌腱中张力的指示。

38. 发明授权

US08424941B2 Robotic thumb assembly 有权
标题翻译：机器人拇指组装
公开(公告)号：US08424941B2
公开(公告)日：2013-04-23
申请号：US12564085
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt , Charles W. Wampler, II , S. Michael Goza
发明人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt , Charles W. Wampler, II , S. Michael Goza
IPC分类号： B25J15/10 , B25J17/00
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20329
摘要： An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.
摘要翻译：提供了一种用于机器人手组件的改进的机器人拇指。根据本公开的一个方面，机器人拇指中的改进的腱路径仅提供五个腱的四个自由度的控制。根据本公开的另一方面，人体拇指的五个自由度中的一个在机器人拇指中被替换为具有趾骨形状的永久扭转。根据本公开的另一方面，一种位置传感器包括具有形状为具有不同中心点的圆形段的两个部分的磁体。磁铁提供了霍尔效应传感器的线性化输出。

39. 发明授权

US08371177B2 Tendon tension sensor 有权
标题翻译：肌腱张力传感器
公开(公告)号：US08371177B2
公开(公告)日：2013-02-12
申请号：US12241309
申请日：2008-09-30
申请人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt
发明人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt
IPC分类号： G01B5/30
CPC分类号： G01L5/102 , B25J9/1045
摘要： A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.
摘要翻译：一种肌腱张力传感器，其具有用于测量在机器臂中使用的腱上的张力的特定应用。张力传感器包括具有弯曲通道的弹性元件，腱穿过该弯曲通道。弹性元件还包括中心部分，在该中心部分上安装有测量弹性元件上的应变的应变计。腱上的张力导致弹性元件的中心部分弯曲或弯曲，这是由应变计测得的，提供了肌腱中张力的指示。

40. 发明授权

US08776632B2 Low-stroke actuation for a serial robot 有权
标题翻译：串行机器人的低冲程动作
公开(公告)号：US08776632B2
公开(公告)日：2014-07-15
申请号：US13213142
申请日：2011-08-19
申请人： Dalong Gao , Chris A. Ihrke
发明人： Dalong Gao , Chris A. Ihrke
IPC分类号： B25J15/08 , B66C1/42 , B66D3/08 , F16H29/02
CPC分类号： B25J9/102 , B25J9/104 , B25J15/0009 , Y10T74/18848 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.
摘要翻译：串联机器人包括基部，第一和第二段，将基部连接到第一段的近侧接头和远端接头。连接节段的远侧关节相对于近端连续地排列和远端。机器人包括第一和第二致动器。第一腱从第一致动器延伸到近端关节，并且可以经由第一致动器选择性地移动。第二腱从第二致动器延伸到远端关节，并且可以经由第二致动器选择性地移动。机器人包括具有至少一个齿轮元件的变速器，当通过第一和/或第二致动器将输入力施加到近端和/或远侧接头时，所述至少一个齿轮元件有助于远侧接头的旋转。还公开了具有上述机器人的机器人手，以及具有躯干，手臂和上述手的机器人系统。

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