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1. 发明申请

US20130096719A1 METHOD FOR DYNAMIC OPTIMIZATION OF A ROBOT CONTROL INTERFACE 审中-公开
标题翻译：机器人控制界面的动态优化方法
公开(公告)号：US20130096719A1
公开(公告)日：2013-04-18
申请号：US13272442
申请日：2011-10-13
申请人： Adam M. Sanders , Matthew J. Reiland , Douglas Martin Linn , Nathaniel Quillin
发明人： Adam M. Sanders , Matthew J. Reiland , Douglas Martin Linn , Nathaniel Quillin
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： G05B19/409 , G05B2219/36133 , G05B2219/36542
摘要： A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.
摘要翻译：用于将数据输入到控制器和/或控制机器人系统的控制界面显示在人机接口设备上。所显示的控制界面的具体配置基于要执行的任务，机器人系统的能力，人机界面设备的能力以及用户的专业知识水平。控制接口的具体配置被设计为基于上述标准来优化用户与机器人系统之间的交互。

2. 发明授权

US08511964B2 Humanoid robot 有权
标题翻译：人型机器人
公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译：人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。躯干沿主轴延伸并呈现一对肩。所述一对臂从所述一对肩部中的相应一个可移动地延伸。每个臂具有多个臂关节。颈部沿着主轴从躯干运动地延伸。颈部至少有一个颈关节。头部从颈部沿着主轴线可移动地延伸。头部至少有一个头关节。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

3. 发明授权

US08260460B2 Interactive robot control system and method of use 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US08260460B2
公开(公告)日：2012-09-04
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

4. 发明申请

US20110071676A1 INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US20110071676A1
公开(公告)日：2011-03-24
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

5. 发明申请

US20110067521A1 HUMANOID ROBOT 有权
标题翻译：人类机器人
公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J17/02 , B25J18/00 , B25J17/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译：人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。躯干沿主轴延伸并呈现一对肩。所述一对臂从所述一对肩部中的相应一个可移动地延伸。每个臂具有多个臂关节。颈部沿着主轴从躯干运动地延伸。颈部至少有一个颈关节。头部从颈部沿着主轴线可移动地延伸。头部至少有一个头关节。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

6. 发明授权

US09120220B2 Control of a glove-based grasp assist device 有权
标题翻译：控制手套式把握辅助装置
公开(公告)号：US09120220B2
公开(公告)日：2015-09-01
申请号：US13408675
申请日：2012-02-29
申请人： Bryan J Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M Sanders , R. Scott Askew , Evan Laske , Kody Ensley
发明人： Bryan J Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M Sanders , R. Scott Askew , Evan Laske , Kody Ensley
IPC分类号： G05B13/00 , A41D19/00 , B25J9/00 , B25J9/10 , B25J13/08 , A61H1/02 , A61B5/11 , A61B5/22
CPC分类号： B25J9/0006 , A41D19/0024 , A61B5/1107 , A61B5/225 , A61B5/6806 , A61H1/0288 , A61H2201/0184 , A61H2201/1246 , A61H2201/1638 , A61H2201/165 , A61H2201/5002 , A61H2201/5061 , A61H2201/5097 , A61H2230/605 , B25J9/104 , B25J13/08
摘要： A grasp assist system includes a glove and sleeve. 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. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.
摘要翻译：抓握辅助系统包括手套和套筒。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。手套包含在第一端连接到数字的腱。套筒具有连接到腱的第二端的致动器组件和与传感器连通的控制器。控制器包括具有可选操作模式的配置模块和处理器，该处理器计算用于每个可选择操作模式的腱施加的拉力，以便以对于每个操作模式不同的方式来帮助抓握力。一种方法包括测量抓取力，选择模式，计算张力，以及使用致动器组件将张力施加到腱上。

7. 发明申请

US20130226350A1 CONTROL OF A GLOVE-BASED GRASP ASSIST DEVICE 有权
标题翻译：基于GLOVE的GRASP辅助设备的控制
公开(公告)号：US20130226350A1
公开(公告)日：2013-08-29
申请号：US13408675
申请日：2012-02-29
申请人： Bryan J. Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M. Sanders , R. Scott Askew , Evan Laske , Kody Ensley
发明人： Bryan J. Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M. Sanders , R. Scott Askew , Evan Laske , Kody Ensley
IPC分类号： G05B13/00 , A41D19/00
CPC分类号： B25J9/0006 , A41D19/0024 , A61B5/1107 , A61B5/225 , A61B5/6806 , A61H1/0288 , A61H2201/0184 , A61H2201/1246 , A61H2201/1638 , A61H2201/165 , A61H2201/5002 , A61H2201/5061 , A61H2201/5097 , A61H2230/605 , B25J9/104 , B25J13/08
摘要： A grasp assist system includes a glove and sleeve. 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. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.
摘要翻译：抓握辅助系统包括手套和套筒。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。手套包含在第一端连接到数字的腱。套筒具有连接到腱的第二端的致动器组件和与传感器连通的控制器。控制器包括具有可选操作模式的配置模块和处理器，该处理器计算用于每个可选择操作模式的腱施加的拉力，以便以对于每个操作模式不同的方式来帮助抓握力。一种方法包括测量抓取力，选择模式，计算张力，以及使用致动器组件将张力施加到腱上。

8. 发明申请

US20130219585A1 HUMAN GRASP ASSIST DEVICE WITH EXOSKELETON 有权
标题翻译：具有EXOSKELETON的人格辅助装置
公开(公告)号：US20130219585A1
公开(公告)日：2013-08-29
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： A41D19/00
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。

9. 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。

10. 发明授权

US08244402B2 Visual perception system and method for a humanoid robot 有权
标题翻译：人形机器人的视觉感知系统和方法
公开(公告)号：US08244402B2
公开(公告)日：2012-08-14
申请号：US12564074
申请日：2009-09-22
申请人： James W. Wells , Neil David Mc Kay , Suhas E. Chelian , Douglas Martin Linn , Charles W. Wampler, II , Lyndon Bridgwater
发明人： James W. Wells , Neil David Mc Kay , Suhas E. Chelian , Douglas Martin Linn , Charles W. Wampler, II , Lyndon Bridgwater
IPC分类号： G05B19/04
CPC分类号： G06K9/3216 , G06T7/246 , G06T2207/10016 , G06T2207/10028 , G06T2207/10048 , G06T2207/20081 , H04N5/247 , H04N5/332 , H04N13/204
摘要： A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.
摘要翻译：机器人系统包括具有机器人接头的人形机器人，每个机器人接头均可使用致动器可移动;以及分布式控制器，用于控制每个机器人接头的运动。控制器包括视觉识别模块（VPM），用于在阈值照明条件下可视地识别和跟踪机器人视野中的对象。 VPM包括用于收集对象的图像的光学装置，位置提取装置和具有用于处理图像和位置信息的算法的主机。该算法可视地识别和跟踪对象，并自动调整光学设备的曝光时间，以防止阈值照明条件下图像的特征数据丢失。识别和跟踪对象的方法包括收集图像，提取对象的位置信息，并自动调整曝光时间，从而防止图像的特征数据丢失。

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