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1. 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。

2. 发明申请

US20130010398A1 Materials for Electroadhesion and Electrolaminates 有权
标题翻译：电粘结和电化学材料
公开(公告)号：US20130010398A1
公开(公告)日：2013-01-10
申请号：US13635889
申请日：2011-03-18
申请人： Harsha E. Prahlad , Ronald E. Pelrine , Annjoe Wong-Foy , Roy D. Kornbluh , Brian K. McCoy
发明人： Harsha E. Prahlad , Ronald E. Pelrine , Annjoe Wong-Foy , Roy D. Kornbluh , Brian K. McCoy
IPC分类号： H02N13/00
CPC分类号： H02N13/00
摘要： An electroadhesive device includes an outer surface adapted to interface with a surface of a foreign substrate, a plurality of electrodes (18), and a semi-conductive insulation material (20) disposed adjacent to at least one of the electrodes (18). Each electrode (18) has a respective conductive volume and is configured to apply a voltage at a respective location of the outer surface, and the difference in voltage between applied voltages includes an electrostatic adhesion voltage that produces an electro-static force between the device and the substrate (16) that is suitable to maintain a current position of the device relative to the substrate (16). The insulation material (20) can be polyurethane or any other suitable material having a resistance of about 109 to 1012 ohms*m. The insulation material effectively operates to expand the conductive volume of the electrodes (18) when they are actuated.
摘要翻译：一种电子粘合装置包括适于与异物衬底的表面相接合的外表面，多个电极（18）和邻近于至少一个电极（18）设置的半导电绝缘材料（20）。每个电极（18）具有相应的导电体积，并且被配置为在外表面的相应位置处施加电压，并且施加的电压之间的电压差包括静电粘附电压，其在装置和所述衬底（16）适于保持所述器件相对于所述衬底（16）的当前位置。绝缘材料（20）可以是聚氨酯或具有约109至1012欧姆·米的电阻的任何其它合适的材料。绝缘材料有效地操作以在电极（18）被致动时扩大电极（18）的导电体积。

3. 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。

4. 发明授权

US08164232B2 Mechanical meta-materials 有权
标题翻译：机械超材料
公开(公告)号：US08164232B2
公开(公告)日：2012-04-24
申请号：US12550222
申请日：2009-08-28
申请人： Roy D. Kornbluh , Ronald E. Pelrine , Harsha E. Prahlad , Scott E. Stanford
发明人： Roy D. Kornbluh , Ronald E. Pelrine , Harsha E. Prahlad , Scott E. Stanford
IPC分类号： H02N1/00
CPC分类号： H02N1/00 , A61F2002/5003 , A61M2025/0058 , A61M2025/0063 , B64C3/48 , H02N1/006 , Y02T50/14 , Y10T428/24752
摘要： The present invention provides meta-materials with an actively controllable mechanical property. The meta-material includes a deformable structure and a set of activation elements. The activation elements are controllable between multiple states. The meta-material includes a first value for a mechanical property when one or more of the activation elements is in the first activation state and includes a second value for the mechanical property when the activation elements have been activated to the second activation state. In one aspect, the meta-material resembles a composite material where the connectivity between the component materials or shape and arrangement of the component materials is dynamically controllable so as to affect a mechanical property of the meta-material.
摘要翻译：本发明提供了具有可主动控制的机械特性的超临界材料。超材料包括可变形结构和一组激活元件。激活元件在多个状态之间是可控的。当一个或多个激活元件处于第一激活状态并且当激活元件已被激活到第二激活状态时，该元材料包括用于机械特性的第一值。在一个方面，超材料类似于复合材料，其中组分材料之间的连接性或组分材料的形状和排列是动态可控的，以便影响超临界材料的机械性能。

5. 发明申请

US20110155307A1 ELECTROACTIVE POLYMER MANUFACTURING 审中-公开
标题翻译：电动聚合物制造
公开(公告)号：US20110155307A1
公开(公告)日：2011-06-30
申请号：US13039714
申请日：2011-03-18
申请人： Ronald E. Pelrine , Roy D. Kornbluh , Qibing Pei , Seajin Oh , Jose P. Joseph
发明人： Ronald E. Pelrine , Roy D. Kornbluh , Qibing Pei , Seajin Oh , Jose P. Joseph
IPC分类号： B32B38/12 , B32B37/02 , B29C65/48
CPC分类号： H01L41/047 , F02G1/043 , F02G2243/52 , F04B35/00 , F04B35/045 , F04B43/043 , F05C2225/08 , F25B9/14 , H01G5/16 , H01L41/0478 , H01L41/094 , H01L41/0986 , H01L41/113 , H01L41/1138 , H01L41/193 , H01L41/45 , H02N2/023 , H04R19/02 , H04R23/00 , Y10S310/80 , Y10T29/49826
摘要： Described herein are transducers and their fabrication. The transducers convert between mechanical and electrical energy. Some transducers of the present invention include a pre-strained polymer. The pre-strain improves the conversion between electrical and mechanical energy. The present invention provides methods for fabricating electromechanical devices including one or more electroactive polymers.
摘要翻译：这里描述的是换能器及其制造。换能器在机械和电能之间转换。本发明的一些换能器包括预应变聚合物。预应变改善了电和机械能之间的转换。本发明提供了制造包括一种或多种电活性聚合物的机电装置的方法。

6. 发明申请

US20110110010A1 WALL CRAWLING ROBOTS 有权
公开(公告)号：US20110110010A1
公开(公告)日：2011-05-12
申请号：US12964614
申请日：2010-12-09
申请人： Ronald E. Pelrine , Harsha Prahlad , Roy D. Kornbluh , Patrick D. Lincoln , Scott Stanford
发明人： Ronald E. Pelrine , Harsha Prahlad , Roy D. Kornbluh , Patrick D. Lincoln , Scott Stanford
IPC分类号： H01L21/683
CPC分类号： B62D57/024 , B62D57/00 , H02N13/00
摘要： Described herein is electroadhesion technology that permits controllable adherence between two objects. Electroadhesion uses electrostatic forces of attraction produced by an electrostatic adhesion voltage, which is applied using electrodes in an electroadhesive device. The electrostatic adhesion voltage produces an electric field and electrostatic adherence forces. When the electroadhesive device and electrodes are positioned near a surface of an object such as a vertical wall, the electrostatic adherence forces hold the electroadhesive device in position relative to the surface and object. This can be used to increase traction or maintain the position of the electroadhesive device relative to a surface. Electric control of the electrostatic adhesion voltage permits the adhesion to be controllably and readily turned on and off.
摘要翻译：这里描述的是允许两个物体之间可控的粘附的电粘附技术。电粘附使用通过电粘合装置中的电极施加的静电粘附电压产生的静电吸引力。静电粘附电压产生电场和静电附着力。当电粘合装置和电极位于诸如垂直壁的物体的表面附近时，静电附着力将电粘合装置保持在相对于表面和物体的适当位置。这可以用于增加牵引力或者保持电子粘合装置相对于表面的位置。静电粘附电压的电控制允许粘附被可控地容易地打开和关闭。

7. 发明授权

US07898159B2 Compliant electroactive polymer transducers for sonic applications 有权
标题翻译：适用于声音应用的电动聚合物换能器
公开(公告)号：US07898159B2
公开(公告)日：2011-03-01
申请号：US12564793
申请日：2009-09-22
申请人： Richard P. Heydt , Ronald E. Pelrine , Roy D. Kornbluh , Neville A. Bonwit , Joseph S. Eckerle
发明人： Richard P. Heydt , Ronald E. Pelrine , Roy D. Kornbluh , Neville A. Bonwit , Joseph S. Eckerle
IPC分类号： H01L41/08
CPC分类号： H04R19/02 , Y10S310/80
摘要： Described herein are compliant electroactive polymer transducers for use in acoustic applications. A compliant electroactive polymer transducer includes a compliant electroactive polymer at least two electrodes. For sound production, circuitry in electrical communication with the transducer electrodes is configured to apply a driving signal that causes the electroactive polymer to deflect in the acoustic range.
摘要翻译：本文描述了用于声学应用的柔性电活性聚合物换能器。柔性电活性聚合物换能器包括柔性电活性聚合物至少两个电极。对于声音产生，与换能器电极电连通的电路被配置成施加使电活性聚合物在声学范围内偏转的驱动信号。

8. 发明授权

US07705521B2 Electroactive polymer torsional device 有权
标题翻译：电动聚合物扭转装置
公开(公告)号：US07705521B2
公开(公告)日：2010-04-27
申请号：US12108324
申请日：2008-04-23
申请人： Ronald E. Pelrine , Roy D. Kornbluh , Jonathan Heim
发明人： Ronald E. Pelrine , Roy D. Kornbluh , Jonathan Heim
IPC分类号： H01L41/08
CPC分类号： H01L41/0986 , H02N2/101 , Y10S310/80
摘要： The present invention relates to mechanical-electrical power conversion systems. The systems comprise one or more electroactive polymers that convert between electrical and mechanical energy. When a voltage is applied to electrodes contacting an electroactive polymer, the polymer deflects. This deflection may be converted into rotation of a power shaft included in a motor. Repeated deflection of the polymer may then produce continuous rotation of the power shaft.
摘要翻译：本发明涉及机电电力转换系统。该系统包括一种或多种在电和机械能之间转化的电活性聚合物。当电压施加到与电活性聚合物接触的电极时，聚合物偏转。该偏转可以转换为包括在电动机中的动力轴的旋转。聚合物的重复偏转然后可以产生动力轴的连续旋转。

9. 发明授权

US07485978B2 Compliant walled combustion devices for producing mechanical and electrical energy 失效
标题翻译：适用于生产机械和电能的壁式燃烧装置
公开(公告)号：US07485978B2
公开(公告)日：2009-02-03
申请号：US11763148
申请日：2007-06-14
申请人： Ronald E. Pelrine , Scott E. Stanford , Harsha Prahlad , Seajin Oh , Jonathan Heim , Roy D. Kornbluh
发明人： Ronald E. Pelrine , Scott E. Stanford , Harsha Prahlad , Seajin Oh , Jonathan Heim , Roy D. Kornbluh
IPC分类号： F02B63/04 , F02F7/00 , H02N2/00
CPC分类号： F02B75/36
摘要： Combustion devices described herein comprise a compliant combustion chamber wall or segment. The compliant segment deforms during combustion in the combustion chamber. Some devices may include a compliant wall configured to stretch responsive to pressure generated by combustion of a fuel in the combustion chamber. A coupling portion translates deformation of the compliant segment or wall into mechanical output. One or more ports are configured to inlet an oxygen source and fuel into the combustion chamber and to outlet exhaust gases from the combustion chamber.
摘要翻译：本文所述的燃烧装置包括顺应性燃烧室壁或段。在燃烧室内的燃烧过程中，柔性段变形。一些装置可以包括被配置为响应于燃烧室中的燃料燃烧产生的压力而拉伸的柔性壁。联接部分将柔性段或壁的变形转换成机械输出。一个或多个端口被配置为将氧源和燃料引入燃烧室并排出来自燃烧室的废气。

10. 发明申请

US20080191585A1 ELECTROACTIVE POLYMER ELECTRODES 有权
标题翻译：电极聚合物电极
公开(公告)号：US20080191585A1
公开(公告)日：2008-08-14
申请号：US11774918
申请日：2007-07-09
申请人： Ronald E. Pelrine , Roy D. Kornbluh , Qibing Pei , Jose P. Joseph
发明人： Ronald E. Pelrine , Roy D. Kornbluh , Qibing Pei , Jose P. Joseph
IPC分类号： H01L41/047
CPC分类号： H01L41/047 , F02G1/043 , F02G2243/52 , F04B35/00 , F04B35/045 , F04B43/043 , F05C2225/08 , F25B9/14 , H01G5/16 , H01L41/0478 , H01L41/094 , H01L41/0986 , H01L41/113 , H01L41/1138 , H01L41/193 , H01L41/45 , H02N2/023 , H04R19/02 , H04R23/00 , Y10S310/80 , Y10T29/49826
摘要： Described herein are transducers, their use and fabrication. The transducers convert between mechanical and electrical energy. The present invention further relates to compliant electrodes that conform to the shape of a polymer included in a transducer.
摘要翻译：这里描述的是换能器，它们的用途和制造。换能器在机械和电能之间转换。本发明还涉及符合换能器中包含的聚合物形状的顺应性电极。

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