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81. 发明授权

US06343129B1 Elastomeric dielectric polymer film sonic actuator 有权
标题翻译：弹性介电聚合物膜声音致动器
公开(公告)号：US06343129B1
公开(公告)日：2002-01-29
申请号：US09356801
申请日：1999-07-19
申请人： Ronald E. Pelrine , Roy D. Kornbluh , Joseph S. Eckerle
发明人： Ronald E. Pelrine , Roy D. Kornbluh , Joseph S. Eckerle
IPC分类号： H04R2500
CPC分类号： H04R5/02 , F02G2243/52 , F04B35/045 , F04B43/043 , H04R17/005 , H04R17/08 , H04R19/02 , H04R23/00 , H04R2499/13
摘要： A sonic actuator including a multi-layer membrane having an elastomeric dielectric polymer layer with a first surface and a second surface, a first compliant electrode layer contacting the first surface of the polymer layer, and a second compliant electrode layer contacting the second surface of the polymer layer. The actuator further includes a support structure in contact with the sonic actuator film. Preferably, the dielectric polymer is selected from the group consisting essentially of silicone, polyurethane fluorosilicone, fluoroelastomer, natural rubber, polybutadiene, nitrile rubber, isoprene, and ethylene propylene diene. Also preferably, the compliant electrode layer is made from the group consisting essentially of graphite, carbon, and conductive polymers. The support structure can take the form of grid having a number of circular apertures. When a voltage is applied to the electrodes, portions of the film held at the aperture of the support structure can bulge due to the electrostriction phenomenon. The resultant “bubbles” can be driven to generate sonic vibrations, or can be used to create a variable surface for airflow control.
摘要翻译：一种声音致动器，包括具有第一表面和第二表面的弹性介电聚合物层的多层膜，与聚合物层的第一表面接触的第一顺应性电极层和接触聚合物层的第二表面的第二柔性电极层聚合物层。致动器还包括与声音致动器膜接触的支撑结构。优选地，电介质聚合物选自硅氧烷，聚氨酯氟硅氧烷，含氟弹性体，天然橡胶，聚丁二烯，丁腈橡胶，异戊二烯和乙烯丙烯二烯。还优选地，顺应性电极层由基本上由石墨，碳和导电聚合物组成的组制成。支撑结构可以采用具有多个圆形孔的网格的形式。当向电极施加电压时，由于电致伸缩现象，保持在支撑结构的孔的膜的部分可能会膨胀。所产生的“气泡”可以被驱动以产生声音振动，或者可以用于创建用于气流控制的可变表面。

82. 发明申请

US20120313857A1 ADAPTABLE INPUT/OUTPUT DEVICE 有权
标题翻译：适配输入/输出设备
公开(公告)号：US20120313857A1
公开(公告)日：2012-12-13
申请号：US13158122
申请日：2011-06-10
申请人： Rukman Senanayake , Grit Denker , Patrick D. Lincoln , Roy D. Kornbluh , Sierra J. Lincoln , Richard P. Heydt , Harsha Prahlad , Daniel McConnell Aukes , Karl D. van Dyk , Geoffrey A. Mangus , Joseph S. Eckerle
发明人： Rukman Senanayake , Grit Denker , Patrick D. Lincoln , Roy D. Kornbluh , Sierra J. Lincoln , Richard P. Heydt , Harsha Prahlad , Daniel McConnell Aukes , Karl D. van Dyk , Geoffrey A. Mangus , Joseph S. Eckerle
IPC分类号： G06F3/02
CPC分类号： G06F3/016 , G06F3/0202 , G06F3/041
摘要： The present invention relates to an adaptable input/output device. One embodiment of a hardware device for facilitating an interaction between a computing system and a user includes: an interaction surface for supporting the interaction, a single actuator capable of driving a first region of the interaction surface, and a first selective clamping mechanism capable of restricting movement of one or more second regions of the interaction surface that partly intersect the first region, wherein a displacement of one or more desired portions of the interaction surface is dynamically controllable.
摘要翻译：本发明涉及一种适应性输入/输出装置。用于促进计算系统和用户之间的交互的硬件设备的一个实施例包括：用于支持交互的交互表面，能够驱动交互表面的第一区域的单个致动器以及能够限制的第一选择性夹紧机构相互作用表面的一个或多个第二区域与第一区域部分相交的运动，其中相互作用表面的一个或多个期望部分的位移是动态可控的。

83. 发明授权

US09563274B2 Adaptable input/output device 有权
标题翻译：适应输入/输出设备
公开(公告)号：US09563274B2
公开(公告)日：2017-02-07
申请号：US13158122
申请日：2011-06-10
申请人： Rukman Senanayake , Grit Denker , Patrick D. Lincoln , Roy D. Kornbluh , Sierra J. Lincoln , Richard P. Heydt , Harsha Prahlad , Daniel McConnell Aukes , Karl D. van Dyk , Geoffrey A. Mangus , Joseph S. Eckerle
发明人： Rukman Senanayake , Grit Denker , Patrick D. Lincoln , Roy D. Kornbluh , Sierra J. Lincoln , Richard P. Heydt , Harsha Prahlad , Daniel McConnell Aukes , Karl D. van Dyk , Geoffrey A. Mangus , Joseph S. Eckerle
IPC分类号： G06F3/01 , G06F3/02 , G06F3/041
CPC分类号： G06F3/016 , G06F3/0202 , G06F3/041
摘要： The present invention relates to an adaptable input/output device. One embodiment of a hardware device for facilitating an interaction between a computing system and a user includes: an interaction surface for supporting the interaction, a single actuator capable of driving a first region of the interaction surface, and a first selective clamping mechanism capable of restricting movement of one or more second regions of the interaction surface that partly intersect the first region, wherein a displacement of one or more desired portions of the interaction surface is dynamically controllable.
摘要翻译：本发明涉及一种适应性输入/输出装置。用于促进计算系统和用户之间的交互的硬件设备的一个实施例包括：用于支持交互的交互表面，能够驱动交互表面的第一区域的单个致动器以及能够限制的第一选择性夹紧机构相互作用表面的一个或多个第二区域与第一区域部分相交的运动，其中相互作用表面的一个或多个期望部分的位移是动态可控的。

84. 发明授权

US08833826B2 Mobile robotic manipulator system 有权
标题翻译：移动机器人操纵系统
公开(公告)号：US08833826B2
公开(公告)日：2014-09-16
申请号：US14005092
申请日：2012-03-21
申请人： Pablo E. Garcia , Thomas P. Low , Harsha Prahlad , Daniel Aukes , Susan Kim , Roy D. Kornbluh
发明人： Pablo E. Garcia , Thomas P. Low , Harsha Prahlad , Daniel Aukes , Susan Kim , Roy D. Kornbluh
IPC分类号： B25J15/00 , B25J19/00 , B25J15/08
CPC分类号： B25J17/00 , B25J15/0009 , B25J15/0028 , B25J15/0085 , B25J15/08 , B25J15/083 , B25J19/00 , F16H21/40 , H02N13/00 , Y10S294/907 , Y10S901/39 , Y10T74/20323
摘要： Robotic hands and finger modules include an underactuated finger with multiple joints including a distal joint, an intermediate joint, and a proximal joint. A brake subsystem in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.
摘要翻译：机器手指和手指模块包括具有多个关节的欠活动指，包括远端关节，中间关节和近端关节。与每个接头连通的制动子系统分别选择性地锁定和解锁接头。机器手可以分别选择性地锁定手指的关节，使得一个或多个关节在一个或多个关节被解锁时被锁定。此外，手指模块可以驱动联接到关节的腱，以以由哪个关节锁定并且哪个关节被解锁确定的方式来弯曲未致动的手指。机器手可以移动未触动的手指，其远端和近端关节解锁，直到手指与物体接触，并且响应于与物体接触而锁定近端关节，同时远端关节保持解锁。

85. 发明授权

US4637736A Slip sensing method and apparatus 失效
标题翻译：滑动感测方法和装置
公开(公告)号：US4637736A
公开(公告)日：1987-01-20
申请号：US725127
申请日：1985-04-19
申请人： Gerry B. Andeen , Eric J. Shrader , Roy D. Kornbluh
发明人： Gerry B. Andeen , Eric J. Shrader , Roy D. Kornbluh
IPC分类号： B25J13/08 , G01K7/00 , B25J15/02
CPC分类号： B25J13/083 , Y10S294/907
摘要： A slip sensor and method of sensing slip for object supporting structure such as a manipulator which includes a pair of relatively movable jaws having opposing jaw faces between which an object may be gripped are shown. At least one thermistor is located at the face of the object supporting structure, which thermistor is intimately engageable with the supported object. The thermistor is maintained at a substantially constant temperature, above ambient temperature, by the passage of current therethrough. The temperature of the gripped object adjacent the thermistor is raised to the above-ambient temperature by heat conduction thereto from the thermistor. With slippage of the gripped object between the jaws, the thermistor is exposed to another portion of the object which is at a different temperature than the temperature of the thermistor whereby the resistance of the thermistor changes. The thermistor is included in a temperature sensing and control unit which maintains the thermistor at a substantially constant temperature, and which has an output related to power supplied to the thermistor to maintain the set-point temperature. The output is digitized and supplied to a digital computer for determining whether or not slippage of the object between the jaws has occurred.
摘要翻译：滑动传感器和感测用于诸如操纵器的物体支撑结构的滑动的方法，其包括一对具有相对的夹爪面的可相对移动的夹爪，可夹持物体。至少一个热敏电阻位于物体支撑结构的表面，该热敏电阻与被支撑物体紧密接合。热电阻通过电流通过而保持在高于环境温度的基本上恒定的温度。与热敏电阻相邻的被夹持物的温度通过从热敏电阻的热传导而升至环境温度以上。随着被夹持物体在夹爪之间的滑动，热敏电阻暴露于物体的另一部分，该物体的温度与热敏电阻的温度不同，因此热敏电阻的电阻改变。该热敏电阻被包括在温度感测和控制单元中，该温度感测和控制单元将热敏电阻保持在基本上恒定的温度，并且具有与提供给热敏电阻的功率相关的输出以保持设定点温度。将输出数字化并提供给数字计算机，以确定是否发生了夹爪之间的物体滑动。

86. 发明授权

US5176143A Tonometer transducer positioning system 失效
标题翻译： Tonometer换能器定位系统
公开(公告)号：US5176143A
公开(公告)日：1993-01-05
申请号：US716116
申请日：1991-06-17
申请人： Joseph S. Eckerle , Roy D. Kornbluh , Rudolf Elbrecht , Eric A. Edwards
发明人： Joseph S. Eckerle , Roy D. Kornbluh , Rudolf Elbrecht , Eric A. Edwards
IPC分类号： A61B5/021
CPC分类号： A61B5/021
摘要： A tonometric blood pressure monitoring system is disclosed having a variable extension sensor assembly. The sensor assembly is connected to a central control unit through separable pod elements. Within the pod elements are a master cylinder and drive system for varying the extension of blood pressure sensor from the sensor assembly. The blood pressure sensor is mounted at the end of an sensor piston, the movement of which is guided on a central rod. The sensor assembly also includes a rolling bellows arrangement for providing a variable hold-down pressure between a cavity block and the sensor assembly housing. The blood pressure sensor is moved laterally, in one embodiment, to provide optimum lateral placement of the sensor with respect to a target source of blood pressure information such as the radial artery of the subject.
摘要翻译：公开了一种具有可变扩展传感器组件的血压计血压监测系统。传感器组件通过可分离的荚元件连接到中央控制单元。在舱内元件中有一个主缸和驱动系统，用于改变传感器组件的血压传感器的延伸。血压传感器安装在传感器活塞的端部，传感器活塞的运动在中心杆上引导。传感器组件还包括滚动波纹管装置，用于在腔体块和传感器组件壳体之间提供可变的压紧压力。在一个实施例中，血压传感器被横向移动，以提供传感器相对于诸如受试者的桡动脉的血压信息的目标源的最佳侧向放置。

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