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21. 发明申请

US20120138714A1 Electrospray Delivery Device 审中-公开
标题翻译：电喷雾输送装置
公开(公告)号：US20120138714A1
公开(公告)日：2012-06-07
申请号：US12959170
申请日：2010-12-02
申请人： Stephen C. Jacobsen , Marc X. Olivier
发明人： Stephen C. Jacobsen , Marc X. Olivier
IPC分类号： F23D11/32 , B23P17/04
CPC分类号： F23D11/32 , B05B5/0255 , Y10T29/494
摘要： An electro-spray delivery device for delivering a stream of charged micro-droplets of a conductive fluid, and which a capillary tube having a proximal end in fluid communication with a source of conductive fluid and a distal end opposite the proximal end. The device also includes a solid guide wire coaxially disposed at least partially within the capillary tube to form an annular passage therein, and which has a distal tip projecting beyond the distal end of the capillary tube. At least one of the capillary tube and guide wire is conductive and in electrical communication with a high-voltage source to electrically charge the conductive fluid flowing through the annular passage and wetting the distal tip of the guide wire. The electrospray delivery device further includes a grounding electrode that is located a predetermined distance from the distal tip of the guide wire and which is in electrical communication with a source of ground. A voltage differential between the charged fluid and the grounding electrode draws the charged fluid away from the distal end of the capillary tube to form a cone jet about the end face of the distal tip discharging a stream of charged micro-droplets.
摘要翻译：一种用于传送导电流体的带电微滴流的电喷射递送装置，其中毛细管具有与导电流体源流体连通的近端和与近端相对的远端。该装置还包括同轴地设置在毛细管内的实心导丝，以在其中形成环形通道，并且具有突出超出毛细管远端的远端尖端。毛细管和导丝中的至少一个是导电的并且与高压源电连通以对流过环形通道的导电流体进行电荷并润湿导丝的远端。电喷雾输送装置还包括接地电极，该接地电极位于与导丝的远端顶部预定距离处，并且与接地源电连通。带电流体和接地电极之间的电压差使得带电流体远离毛细管的远端，以形成围绕远侧末端的端面排出带电微滴流的锥形射流。

22. 发明申请

US20120138701A1 Electrospray Dispensing System 审中-公开
标题翻译：电喷雾分配系统
公开(公告)号：US20120138701A1
公开(公告)日：2012-06-07
申请号：US12959177
申请日：2010-12-02
申请人： Marc X. Olivier , Stephen C. Jacobsen
发明人： Marc X. Olivier , Stephen C. Jacobsen
IPC分类号： B05B5/025
CPC分类号： B05B5/025 , B05B5/0255
摘要： An electrospray dispensing system for delivering a controllable quantity of charged micro-droplets of a conductive fluid, and which includes an elongate fluid supply cylinder having a first end, a second end, a sidewall (e.g., forming a circular or other polygonal cross-section) between the first and second ends, and an interior hollow that is in fluid communication with a source of conductive fluid. The dispensing system also includes an array of selectively-activated capillary tubes having proximal ends that are in fluid communication with the interior hollow and distal ends extending radially outward through the sidewall, and which are configured so that any conductive fluid flowing outwardly through one or more activated capillary tubes is electrically-charged. The dispensing system further includes a grounding electrode that is in electrical communication with a source of ground and located at a predetermined distance from the distal ends of the capillary tubes, so that an electric potential between the charged conductive fluid and the grounding electrode will cause each of the activated capillary tubes to form a cone jet which projects a stream of charged micro-droplets towards the grounding electrode.
摘要翻译：一种电喷雾分配系统，用于传送可控量的导电流体的带电微滴，并且其包括细长的流体供应圆筒，其具有第一端，第二端，侧壁（例如，形成圆形或其它多边形横截面）和与导电流体源流体连通的内部中空部分。分配系统还包括选择性激活的毛细管阵列，其具有与内部中空和远端流体连通的近端，所述远端通过侧壁径向向外延伸，并且被配置为使得任何导电流体向外流过一个或多个活化的毛细管是带电的。分配系统还包括接地电极，其与地源电连通并且位于与毛细管的远端预定距离处，使得带电导电流体和接地电极之间的电位将导致每个的活化毛细管以形成锥形射流，其将带电微滴流投射到接地电极。

23. 发明申请

US20110213599A1 Method of Sizing Actuators for a Biomimetic Mechanical Joint 审中-公开
标题翻译：调整致动器机械接头的方法
公开(公告)号：US20110213599A1
公开(公告)日：2011-09-01
申请号：US13061472
申请日：2009-08-28
申请人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
发明人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
IPC分类号： G06F17/50
CPC分类号： B25J9/0006 , A61H3/008 , B25J19/007
摘要： A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.
摘要翻译：一种配置仿生机械接头的方法，用于支撑构件围绕枢轴装置的有效移动。该方法包括提供第一分数致动器和第二分数致动器，其可与支撑构件和枢转装置一起操作，将第一分数执行器的尺寸调整为在第一边界条件下进行额定操作，以及调整第二分数执行器的尺寸，使得第一和第二组合执行器在组合时被额定为在第二边界条件下操作。

24. 发明授权

US08849457B2 Contact displacement actuator system 有权
标题翻译：接触排量驱动系统
公开(公告)号：US08849457B2
公开(公告)日：2014-09-30
申请号：US11879448
申请日：2007-07-16
申请人： Stephen C. Jacobsen , Marc X. Olivier
发明人： Stephen C. Jacobsen , Marc X. Olivier
IPC分类号： A61F2/48 , A61H3/00 , B25J9/00 , A61H1/02
CPC分类号： B25J9/0006 , A61H1/024 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H3/008 , A61H2201/0173 , A61H2201/0176 , A61H2201/1238 , A61H2201/1616 , A61H2201/163 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069 , A61H2201/5079
摘要： A robot displacement device for use with a robotic frame shaped to approximate and be coupleable to at least a portion of the human body and configured to mimic movement of the human body. The device employs a plurality of force sensors which are attached to the robotic frame which detect a baseline controlling interface force status relationship between the sensors and the extremities of the human operator. Based on the output force signal from the sensors and the force and direction of gravity relative to the robotic frame, the computation system calculates at least a rotational force required to maintain the controlling force status relationship. That system then generates and transmits an actuation signal to a drive system attached to the robotic frame which displaces a portion of the robotic frame in order to maintain the controlling force status relationship.
摘要翻译：一种与机器人框架一起使用的机器人位移装置，其被形状为近似于并可与人体的至少一部分联接并且被配置为模拟人体的运动。该装置采用多个力传感器，其附接到机器人框架，其检测传感器和人类操作者的末端之间的基线控制界面力状态关系。基于来自传感器的输出力信号和相对于机器人框架的力和重力方向，计算系统至少计算维持控制力状态关系所需的旋转力。该系统然后产生并将致动信号传输到附接到机器人框架的驱动系统，驱动系统移动机器人框架的一部分，以便维持控制力状态关系。

25. 发明授权

US08516918B2 Biomimetic mechanical joint 有权
标题翻译：仿生机械接头
公开(公告)号：US08516918B2
公开(公告)日：2013-08-27
申请号：US13061482
申请日：2009-08-28
申请人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
发明人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
IPC分类号： B25J17/00
CPC分类号： A61F2/68 , A61F5/0102 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/745 , A61F2002/747 , A61H1/0262 , A61H1/0266 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/1238 , A61H2201/14 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676 , B25J9/0006 , B25J9/104 , Y10T74/20305 , Y10T74/20323 , Y10T74/20329
摘要： A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
摘要翻译：一种用于在仿生机器人装置的支撑构件之间产生可变扭矩的仿生机械接头，包括基部支撑构件，可旋转地联接到所述基部支撑构件的旋转支撑构件和可操作地联接在所述基部支撑构件和旋转支撑构件。可变半径滑轮包括具有可变半径的滑轮主体和形成在周向外表面中的一个或多个腱槽。机械接头还包括一个或多个柔性腱和对抗性致动器对，其中每个致动器对联接到一个或多个腱并且构造成在任一方向上围绕可变匝角轮滑轮操作腱以在基部和旋转支撑构件。

26. 发明申请

US20110295164A1 Control Logic for Biomimetic Joint Actuators 有权
标题翻译：仿真联合执行机构的控制逻辑
公开(公告)号：US20110295164A1
公开(公告)日：2011-12-01
申请号：US13061488
申请日：2009-08-28
申请人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
发明人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
IPC分类号： A61H1/02
CPC分类号： B25J9/0006 , A61F2/68 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/74 , A61F2002/748 , A61F2002/7635 , A61H3/008
摘要： A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings. The method of the present invention allows for selection from the available actuator arrangements and throttle settings according to predetermined operating modes such as high-efficiency, high-acceleration or general-purpose, etc.
摘要翻译：一种操作仿生机械接头的方法，所述仿生机械接头具有多个分数致动器，所述致动器构造成用于围绕枢轴装置旋转支撑构件。在操作期间，可以单独地或一起地选择性地招募分数致动器，以在整个运动范围和各种负载条件下有效地使支撑构件围绕机械接头旋转。每个分数执行器都可以连续节流，以降低执行器运行的速度或转矩。选择性地招募和节流每个分数执行器的能力导致具有两个自由度的致动器系统，其中可以用一个或多个致动器装置和节流设置来达到机械接头的单个操作状态。本发明的方法允许根据诸如高效率，高加速度或通用等的预定操作模式从可用的致动器装置和节气门设置中进行选择。

27. 发明申请

US20090030562A1 Modular Robotic Crawler 有权
标题翻译：模块化机器人履带
公开(公告)号：US20090030562A1
公开(公告)日：2009-01-29
申请号：US12171146
申请日：2008-07-10
申请人： Stephen C. Jacobsen , Marc X. Olivier
发明人： Stephen C. Jacobsen , Marc X. Olivier
IPC分类号： G06F17/00 , G06F19/00
CPC分类号： B62D57/00 , B08B9/045 , B25J9/065 , B62D57/02 , B62D57/04 , B62D63/00
摘要： A modular robotic crawler can be formed by intercoupling a selected plurality of segment modules from a preexisting collection of differing compatible segment modules. The segment modules can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.
摘要翻译：模块化机器人爬行器可以通过从预先存在的不同兼容段模块集合中选出的多个段模块相互合并而形成。段模块可以具有至少一个互连接口。选择可以基于要执行的功能的计划的操作场景。

28. 发明授权

US08731716B2 Control logic for biomimetic joint actuators 有权
标题翻译：仿生关节致动器的控制逻辑
公开(公告)号：US08731716B2
公开(公告)日：2014-05-20
申请号：US13061488
申请日：2009-08-28
申请人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
发明人： Stephen C. Jacobsen , Marc X. Olivier , Brian J. Maclean
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： B25J9/0006 , A61F2/68 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/74 , A61F2002/748 , A61F2002/7635 , A61H3/008
摘要： A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings. The method of the present invention allows for selection from the available actuator arrangements and throttle settings according to predetermined operating modes such as high-efficiency, high-acceleration or general-purpose, etc.
摘要翻译：一种操作仿生机械接头的方法，所述仿生机械接头具有多个分数致动器，所述致动器构造成用于围绕枢轴装置旋转支撑构件。在操作期间，可以单独地或一起地选择性地招募分数致动器，以在整个运动范围和各种负载条件下有效地使支撑构件围绕机械接头旋转。每个分数执行器都可以连续节流，以降低执行器运行的速度或转矩。选择性地招募和节流每个分数执行器的能力导致具有两个自由度的致动器系统，其中可以用一个或多个致动器装置和节流设置来达到机械接头的单个操作状态。本发明的方法允许根据诸如高效率，高加速度或通用等的预定操作模式从可用的致动器装置和节气门设置中进行选择。

29. 发明授权

US08571711B2 Modular robotic crawler 有权
标题翻译：模块化机器人爬行器
公开(公告)号：US08571711B2
公开(公告)日：2013-10-29
申请号：US12171146
申请日：2008-07-10
申请人： Stephen C. Jacobsen , Marc X. Olivier
发明人： Stephen C. Jacobsen , Marc X. Olivier
IPC分类号： B62D55/04 , G06F19/00 , B25J17/00
CPC分类号： B62D57/00 , B08B9/045 , B25J9/065 , B62D57/02 , B62D57/04 , B62D63/00
摘要： A modular robotic crawler can be formed by intercoupling a selected plurality of segment modules from a preexisting collection of differing compatible segment modules. The segment modules can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.
摘要翻译：模块化机器人爬行器可以通过从预先存在的不同的兼容段模块集合中选出的多个段模块相互合并而形成。段模块可以具有至少一个互连接口。选择可以基于要执行的功能的计划的操作场景。

30. 发明授权

US08558489B2 Micro motor 失效
标题翻译：微电机
公开(公告)号：US08558489B2
公开(公告)日：2013-10-15
申请号：US12959159
申请日：2010-12-02
申请人： Stephen C. Jacobsen , Shane Olsen , Marc X. Olivier
发明人： Stephen C. Jacobsen , Shane Olsen , Marc X. Olivier
IPC分类号： H02P6/00
CPC分类号： H02K16/00 , H02K1/14 , H02K3/47 , H02K7/083 , H02K21/14 , H02K29/08
摘要： A thinly configured and brushless miniature DC micro motor that includes at least two substantially-flat motor cells that are aligned axially. Each motor cell comprises a stator coil having an elongate opening and passage for a rotor shaft, and a cross-polarized rotor magnet carried on the rotor shaft and received within the elongate opening. The micro motor also includes a frame substrate that fixably supports the stator coils of the motor cells while providing a bearing means for rotatably supporting the rotor shaft, so that selectively energizing one of the motor cells creates an electric current in the stator coil interacting with a magnetic field of the received rotor magnet to generate a torque between the rotor shaft and the frame substrate.
摘要翻译：一种薄配置和无刷的微型DC微型电动机，其包括轴向对准的至少两个基本上平坦的电动机单元。每个电动机单元包括具有用于转子轴的细长开口和通道的定子线圈和承载在转子轴上并被接收在细长开口内的交叉极化转子磁体。微型马达还包括框架基板，该框架基板可固定地支撑电动机单元的定子线圈，同时提供用于可旋转地支撑转子轴的支承装置，从而选择性地激励电动机单元之一产生与定子线圈相互作用的电流接收的转子磁体的磁场，以在转子轴和框架基板之间产生转矩。

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