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11. 发明申请

US20140371871A1 CONTROL OF LIMB DEVICE 审中-公开
标题翻译： LIMB设备的控制
公开(公告)号：US20140371871A1
公开(公告)日：2014-12-18
申请号：US14303229
申请日：2014-06-12
申请人： Georg-August-Universitaet Goettingen Stiffung Oeffentlichen Rechts, Universitaetsmedizin , Otto Bock HealthCare GmbH
发明人： Dario Farina , Dejan Popovic , Bernhard Graimann , Marko Markovic , Strahinja Dosen
IPC分类号： A61F2/54
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb. In particular, the invention is related to a control unit for electrically controlling an electrically controllable limb device, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. The invention further refers to a system comprising such a control unit, a method for controlling an electrically controllable limb device and a computer program.
摘要翻译：本发明涉及用于人或机器人肢体的假肢形式的肢体装置的控制区域。特别地，本发明涉及一种用于电控制可控肢体装置的控制单元，该肢体装置包括多个致动器，该控制单元包括用于将控制单元连接到肢体装置的第一接口，该控制单元包括用于将控制单元连接到包括一个或多个感测装置的数据采集装置的第二接口，所述控制单元包括处理单元，所述处理单元至少基于由所述数据收集装置收集的数据来控制所述肢体装置，其中所述控制单元被布置为基于从数据收集装置接收到的第一数据或数据组合，向由处理单元计算出的肢体装置的致动器输出单个控制动作步骤，并且控制单元被布置为输出多个控制动作由处理单元基于第二数据计算出的肢体装置的致动器的步骤从数据采集装置接收的数据组合，第二数据或数据组合不同于第一数据或数据组合，多个控制动作步骤引起肢体装置的更复杂的自动运动，该单个控制动作步骤。本发明还涉及一种包括这种控制单元的系统，一种用于控制电控肢体装置和计算机程序的方法。

12. 发明申请

US20130317648A1 BIOSLEEVE HUMAN-MACHINE INTERFACE 有权
标题翻译：生成人机界面
公开(公告)号：US20130317648A1
公开(公告)日：2013-11-28
申请号：US13903781
申请日：2013-05-28
申请人： Christopher Assad
发明人： Christopher Assad
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , A61B5/04888 , A61B5/1116 , A61B5/1122 , A61B5/6825 , A61B5/6826 , A61B5/6831 , A61B5/721 , A61B5/7267 , B25J9/104 , G05B2219/36435 , G06F3/011 , G06F3/014 , G06K9/00355
摘要： Systems and methods for sensing human muscle action and gestures in order to control machines or robotic devices are disclosed. One exemplary system employs a tight fitting sleeve worn on a user arm and including a plurality of electromyography (EMG) sensors and at least one inertial measurement unit (IMU). Power, signal processing, and communications electronics may be built into the sleeve and control data may be transmitted wirelessly to the controlled machine or robotic device.
摘要翻译：公开了用于感测人肌肉动作和手势以便控制机器或机器人装置的系统和方法。一个示例性系统使用佩戴在使用者手臂上的紧密套筒并且包括多个肌电图（EMG）传感器和至少一个惯性测量单元（IMU）。电源，信号处理和通信电子设备可以内置在套管中，并且控制数据可以无线地传输到受控机器或机器人设备。

13. 发明授权

US08483879B2 Human-robot interactive system having a human stiffness estimation control algorithm 有权
标题翻译：人机交互系统具有人体硬度估计控制算法
公开(公告)号：US08483879B2
公开(公告)日：2013-07-09
申请号：US12627033
申请日：2009-11-30
申请人： Dalong Gao , Roland J. Menassa , Robin Stevenson
发明人： Dalong Gao , Roland J. Menassa , Robin Stevenson
IPC分类号： G05B15/00 , G05B19/10 , G05B19/19 , G06F19/00 , B25J19/02 , G08B23/00
CPC分类号： G05B19/423 , B25J9/1633 , G05B2219/36429 , G05B2219/36435 , G05B2219/39338
摘要： A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.
摘要翻译：机器人系统包括机器人，其适于根据来自操作者的输入力成比例地移动有效载荷，适于测量包括输入力的预定操作员输入值集合的传感器和控制器。控制器使用一组操作员输入值确定操作者的刚度变化值，并使用刚度值自动调整机器人的控制灵敏度水平。输入值包括输入力，操作者的肌肉激活水平以及操作者的位置。一种控制机器人的方法包括使用多个传感器测量操作者输入值，使用控制器处理输入值，从而计算出刚度值，并使用刚度值自动调整机器人的控制灵敏度水平。可以识别特定的操作者，其基于身份来调整控制灵敏度。

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