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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. 发明授权

US08033876B2 Connector pin and method 有权
标题翻译：连接器针脚和方法
公开(公告)号：US08033876B2
公开(公告)日：2011-10-11
申请号：US12706744
申请日：2010-02-17
申请人： Donald R. Davis , Nicolaus A Radford , R. Scott Askew
发明人： Donald R. Davis , Nicolaus A Radford , R. Scott Askew
IPC分类号： H01R13/05
CPC分类号： H01R13/17 , H01R13/052
摘要： An electrical connector and method includes a connector and a conforming element proximate to or in contact with the mating end of the connector so as to prevent distortion of a matable end. The matable end of the connector may be of a female or male type and may be of a post, tube, blade, pin, or other configuration. An element made of conforming material, for example, an elastomer, epoxy or rubber type material, is configured and positioned in contact with the matable end of the connector, providing support during assembly to prevent distortion of the matable end. The conforming element may be rectangular, wedge, cylindrical, conical, annular, or of another configuration as required to provide support to the connector pin. The conforming element may be fastened with an adhesive to the matable end to further prevent distortion.
摘要翻译：电连接器和方法包括连接器和靠近或与连接器的配合端接触的符合元件，以防止可配接端的变形。连接器的可配接端可以是阴型或阳型，并且可以是柱，管，叶片，销或其它构造。由适形材料制成的元件，例如弹性体，环氧树脂或橡胶类材料，被构造和定位成与连接器的可配接端接触，在组装过程中提供支撑以防止可匹配的端部变形。适形元件可以是矩形，楔形，圆柱形，圆锥形，环形或另外的构造，以便为连接器销提供支撑。适形元件可以用粘合剂固定到可配合的端部，以进一步防止变形。

4. 发明授权

US08442684B2 Integrated high-speed torque control system for a robotic joint 有权
标题翻译：用于机器人接头的集成高速扭矩控制系统
公开(公告)号：US08442684B2
公开(公告)日：2013-05-14
申请号：US12564076
申请日：2009-09-22
申请人： Donald R. Davis , Nicolaus A. Radford , Frank Noble Permenter , Michael C. Valvo , R. Scott Askew
发明人： Donald R. Davis , Nicolaus A. Radford , Frank Noble Permenter , Michael C. Valvo , R. Scott Askew
IPC分类号： G05B19/00 , G06F13/00 , G06F1/16 , H05K7/20 , H05K1/14 , H05K1/00 , G11B15/18 , G11B21/02 , G11B5/596 , G11B5/48 , H01R24/00
CPC分类号： B25J9/1633 , G05B2219/42093 , G05B2219/42263
摘要： A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).
摘要翻译：用于实现机器人接头的高速扭矩的控制系统包括具有并置接头处理器和高速通信总线的印刷电路板组件（PCBA）。 PCBA还可以包括用于处理来自一个或多个电动机位置传感器的传感器数据的电力逆变器模块（PIM）和本地传感器调节电子装置（SCE）。通过PCBA作为高速转矩回路提供接头电机的转矩控制。每个联合处理器可以被嵌入在被控制的机器人接头内或与其相配合。联合处理器，PIM和高速总线的配置可以增加控制系统的抗噪声能力，并且联合电平处的联合电机的传感器数据的局部处理可以使到达和来自每个控制节点的总线布线最小化。联合处理器可以包括现场可编程门阵列（FPGA）。

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