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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 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。

7. 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。

8. 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。

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. 发明申请

US20110071678A1 TENDON DRIVEN FINGER ACTUATION SYSTEM 有权
标题翻译： TENDON驾驶手指启动系统
公开(公告)号：US20110071678A1
公开(公告)日：2011-03-24
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
IPC分类号： G06F7/00 , B25J18/00
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译：人形机器人包括具有至少一根手指的机器手。用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。

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