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1. 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。

2. 发明授权

US08467903B2 Tendon driven finger actuation system 有权
标题翻译：肌腱驱动手指致动系统
公开(公告)号：US08467903B2
公开(公告)日：2013-06-18
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： B25J18/00 , B25J19/02 , B25J15/08 , G06F7/00 , B25J17/02
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。

3. 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。

4. 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。

5. 发明申请

US20110068595A1 ROBOTIC FINGER ASSEMBLY 有权
标题翻译：机动手指总成
公开(公告)号：US20110068595A1
公开(公告)日：2011-03-24
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
IPC分类号： B25J15/10 , B25J15/08
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译：机器人手包括具有第一，第二和第三趾骨的手指。第一接头将第一趾部可旋转地连接到基部结构。第二关节可旋转地将第一趾部连接到第二趾部。第三关节将第三趾部可旋转地连接到第二趾部。第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。

6. 发明授权

US08562049B2 Robotic finger assembly 有权
标题翻译：机器人手指组装
公开(公告)号：US08562049B2
公开(公告)日：2013-10-22
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
IPC分类号： B25J15/10 , B25J17/00
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译：机器人手包括具有第一，第二和第三趾骨的手指。第一接头将第一趾部可旋转地连接到基部结构。第二关节可旋转地将第一趾部连接到第二趾部。第三关节将第三趾部可旋转地连接到第二趾部。第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。

7. 外观设计

USD628609S1 Robot 有权
公开(公告)号：USD628609S1
公开(公告)日：2010-12-07
申请号：US29359105
申请日：2010-04-06
申请人： Douglas Martin Linn , Chris A. Ihrke , Robert O. Ambrose , Joshua S Mehling , Myron A Diftler , Adam H Parsons , Nicolaus A Radford , Lyndon Bridgwater , Heather Bibby
设计人： Douglas Martin Linn , Chris A. Ihrke , Robert O. Ambrose , Joshua S Mehling , Myron A Diftler , Adam H Parsons , Nicolaus A Radford , Lyndon Bridgwater , Heather Bibby

8. 发明申请

US20100121222A1 SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
标题翻译：通过电力反应动力来感知电动张力
公开(公告)号：US20100121222A1
公开(公告)日：2010-05-13
申请号：US12269552
申请日：2008-11-12
申请人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
发明人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
IPC分类号： A61B5/103
CPC分类号： B25J15/0009 , B25J9/1045 , G01L1/2218 , G01L5/226
摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.
摘要翻译：使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。腱穿过应变计元件和力部件。应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

9. 发明授权

US08056423B2 Sensing the tendon tension through the conduit reaction forces 有权
标题翻译：通过导管反作用力感测肌腱张力
公开(公告)号：US08056423B2
公开(公告)日：2011-11-15
申请号：US12269552
申请日：2008-11-12
申请人： Muhammad E. Abdallah , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
发明人： Muhammad E. Abdallah , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
IPC分类号： G01N3/08
CPC分类号： B25J15/0009 , B25J9/1045 , G01L1/2218 , G01L5/226
摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.
摘要翻译：使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。腱穿过应变计元件和力部件。应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

10. 发明授权

US07784363B2 Phalange tactile load cell 有权
标题翻译： Phalange触觉测力传感器
公开(公告)号：US07784363B2
公开(公告)日：2010-08-31
申请号：US12241320
申请日：2008-09-30
申请人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
IPC分类号： G01D7/00
CPC分类号： G01L1/2243 , B25J13/084 , G01L5/226
摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
摘要翻译：一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

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