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21. 发明申请

US20110029133A1 ROBOT, AND CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ROBOT 有权
标题翻译：机器人，机器人的控制装置，控制方法和控制程序
公开(公告)号：US20110029133A1
公开(公告)日：2011-02-03
申请号：US12935603
申请日：2009-06-02
申请人： Yasunao Okazaki , Atsushi Ono , Katsuhiko Asai
发明人： Yasunao Okazaki , Atsushi Ono , Katsuhiko Asai
IPC分类号： B25J19/00
CPC分类号： B25J9/1075 , A61G7/1017 , A61G7/1046 , A61G7/1057 , A61G7/1065 , A61G2200/32 , A61G2203/32 , A61G2203/42 , A61G2203/72 , B25J5/007 , B25J9/0084 , B25J9/0087 , B25J9/142 , B25J13/085 , B25J19/0004
摘要： A robot arm provided with a body unit shifting mechanism that connects a base unit and a body unit so as to be relatively shifted, and joint lock mechanisms that are capable of mechanically securing respective joints is disposed on the body unit, and a robot operation control unit controls to switch between a robot arm operation mode in which the robot arm is operated with one of the joints of the robot arm brought into a free state, and a body unit shift mode in which the body unit is shifted with the joint being brought into a locked state.
摘要翻译：一种机器人手臂，其设置有主体单元移动机构，其连接基座单元和主体单元以相对移位，并且能够机械地固定各个关节的关节锁定机构设置在主体单元上，并且机器人操作控制单元控制在机器人手臂操作的机器人手臂操作模式之间切换，其中机器人手臂的一个接合处于自由状态，以及主体单元移动模式，其中主体单元随着关节被移动进入锁定状态。

22. 发明申请

US20100280425A1 MUSCLE FORCE ASSISTING DEVICE AND ITS OPERATING METHOD 失效
标题翻译：肌肉力量辅助装置及其操作方法
公开(公告)号：US20100280425A1
公开(公告)日：2010-11-04
申请号：US12810601
申请日：2008-12-11
申请人： Takashi KAWAKAMI , Toshihiko ISHIKO , Keisuke UEDA
发明人： Takashi KAWAKAMI , Toshihiko ISHIKO , Keisuke UEDA
IPC分类号： A61H1/00
CPC分类号： A61F5/013 , A61F5/0123 , A61F2002/5066 , A61F2005/0179 , A61H1/0277 , B25J9/0006 , B25J9/1075 , B25J9/142
摘要： A muscle force assisting can increase a bending angle of a second attachment with respect to a first attachment. The muscle force assisting device includes the first attachment arranged along one bone of a joint, the second attachment arranged along the other bone of the joint, and an artificial muscle having one end provided on the first attachment and having the other end provided on the second attachment, an actuator that is extensible or contractible by supplying or discharging a substance such as gas, liquid and solid, or a mixture thereof is used as the artificial muscle, and the muscle force assisting device assists motion of a user's elbow, knee and wrist, the one end of the artificial muscle can be displaced with respect to the first attachment, the one end of the artificial muscle is displaced, and a bending angle of the second attachment with respect to the first attachment is increased as compared with a case where the one end of the artificial muscle is not displaced.
摘要翻译：辅助肌肉力可以相对于第一附件增加第二附件的弯曲角度。肌力辅助装置包括沿着关节的一个骨排列的第一附件，沿接头的另一个骨排列的第二附件，以及设置在第一附件上的另一端设置在第二附件上的人造肌肉，使用通过供给或排出诸如气体，液体和固体的物质或其混合物来延伸或收缩的致动器作为人造肌肉，并且肌力辅助装置辅助使用者的肘部，膝盖和手腕的运动相对于第一附件，人造肌肉的一端可以移位，人造肌肉的一端位移，第二附件相对于第一附件的弯曲角度与人造肌肉的一端不会流离失所。

23. 发明申请

US20100116079A1 BIDIRECTIONAL TENDON TERMINATOR 有权
标题翻译：双向TENDON终端机
公开(公告)号：US20100116079A1
公开(公告)日：2010-05-13
申请号：US12269579
申请日：2008-11-12
申请人： CHRIS A. IHRKE , DOUGLAS MARTIN LINN , LYNDON BRIDGWATER
发明人： CHRIS A. IHRKE , DOUGLAS MARTIN LINN , LYNDON BRIDGWATER
IPC分类号： B25J17/00 , B25J15/08
CPC分类号： B25J15/0009 , B25J9/1075 , Y10T74/20329 , Y10T74/20335
摘要： A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.
摘要翻译：双向肌腱终止器，其具有用于终止在机器臂中致动手指的腱的特定应用。腱终端器包括具有内部通道的圆柱形构件，单个连续的腱延伸穿过该内部通道。腱终端器的内部通道包括加宽部分。一个球被放置在肌腱股线中，这导致腱膨胀，并且球定位在通道的加宽部分内。根据肌腱被牵引的方向，拉动肌腱操作以打开或关闭机器手臂的手指。在一个具体实施例中，气缸包括两个联接在一起的圆柱形件，使得球可以定位在通道内，并且圆柱形构件具有整个材料周长。

24. 发明申请

US20090182436A1 Robot Arm 有权
标题翻译：机器人手臂
公开(公告)号：US20090182436A1
公开(公告)日：2009-07-16
申请号：US12224104
申请日：2007-02-23
申请人： Paolo Ferrara
发明人： Paolo Ferrara
IPC分类号： B25J9/14 , F15B15/08 , B25J18/00 , A61F2/54
CPC分类号： B25J9/142 , A61H1/02 , A61H37/00 , A61H2001/0207 , A61H2201/018 , A63B21/00069 , A63B21/00178 , A63B21/0085 , A63B21/4033 , A63B23/03508 , A63B23/12 , A63B23/1209 , B25J9/1075 , Y10T74/20305
摘要： A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.
摘要翻译：由一个或多个可选择地连接的主动枢转杆形成的机器人手臂，其中基座固定到支撑件的一端，并且枢转件可枢转地安装在支撑件的第二端上，气动肌肉从基座运动到枢转片。单独的气动肌肉接合在枢转件的枢转轴线的相对侧上，并且枢转杆的基部固定到与其相互连接的相邻枢转杆的枢转件。控制器测量各个枢转杆的位置和各个气动肌肉中的压力，从各个气动肌肉的压力距离图计算外力作用力，并计算所有枢转杆的几何杠杆机械比并限制所述力。

25. 发明授权

US07264289B2 Articulated robotic serial mechanism and method 失效
标题翻译：铰接式机器人串联机理及方法
公开(公告)号：US07264289B2
公开(公告)日：2007-09-04
申请号：US11210853
申请日：2005-08-25
申请人： Mark H. Yim
发明人： Mark H. Yim
IPC分类号： B25J15/00 , B25J15/10
CPC分类号： B25J9/06 , B25J9/1075
摘要： A robotic device may include a plurality of concatenated assemblies, a tendon slidably connected to the plurality of concatenated assemblies, and an actuator that moves the tendon. Each assembly of the concatenated plurality may include a joining member that neighbors an adjacent assembly, a linkage that may fixedly connect to the joining member and may pivotably connect to the adjacent assembly, and an appendage that may extend from the joining member to a length. The appendage may include a connector through which the tendon may be connected to slide through. The connector may be adjustably disposable along the length of the appendage to a specified position thereon. The appendage may extend in a direction at a specified angle relative to the linkage.
摘要翻译：机器人装置可以包括多个级联组件，可滑动地连接到多个连接组件的腱以及移动肌腱的致动器。级联多个的每个组件可以包括邻近相邻组件的连接构件，可以固定地连接到接合构件并且可以可枢转地连接到相邻组件的连杆，以及可以从接合构件延伸到一定长度的附件。附件可以包括连接器，肌腱可以通过该连接器连接以滑动。连接器可以沿着附件的长度可调节地一次性到其上的指定位置。附件可以相对于连杆在指定角度的方向上延伸。

26. 发明申请

US20060174761A1 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US20060174761A1
公开(公告)日：2006-08-10
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/00
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

27. 发明申请

US20030106390A1 Weight compensation device 失效
标题翻译：重量补偿装置
公开(公告)号：US20030106390A1
公开(公告)日：2003-06-12
申请号：US10349221
申请日：2003-01-22
申请人： KUKA ROBOTER GmbH
发明人： Wolfgang Bohlken
IPC分类号： B25J017/00
CPC分类号： B25J9/1075 , B25J9/142 , B25J19/0012 , F15B15/103 , F15B15/1404 , Y10T74/20305
摘要： A robot is provided with a robot weight compensation device having at least one hose element including an internally pressurized gas-tight inner hose portion cooperating with a high tensile strength outer portion. The high tensile strength outer portion includes non-elongatable fibers oriented relative to an axis of the at least one hose element by an angle not equal to 0null and 90null. An outer flexible protective jacket covers the fibers. A first fixing element is fixed to a first end of the hose element. The fixing element is connected to a first part of the robot. A second fixing element is fixed to a second end of the hose element. The second fixing element is articulated to a second part of the robot being movable relatively to the first robot element.
摘要翻译：机器人设置有机器人重量补偿装置，其具有至少一个软管元件，该软管元件包括与高抗拉强度外部配合的内部加压的气密内软管部分。高抗拉强度外部部分包括不可伸长的纤维，其相对于至少一个软管元件的轴线定向不为0°和90°的角度。外部柔性保护套覆盖纤维。第一固定元件固定到软管元件的第一端。固定元件连接到机器人的第一部分。第二固定元件固定到软管元件的第二端。第二固定元件铰接到可相对于第一机器人元件移动的机器人的第二部分。

28. 发明授权

US06475639B2 Ionic polymer sensors and actuators 有权
标题翻译：离子聚合物传感器和执行器
公开(公告)号：US06475639B2
公开(公告)日：2002-11-05
申请号：US09258602
申请日：1999-02-26
申请人： Mohsen Shahinpoor , Mehran Mojarrad
发明人： Mohsen Shahinpoor , Mehran Mojarrad
IPC分类号： B32B1508
CPC分类号： F03G7/005 , A61F2/08 , A61F2002/0894 , A61F2002/5066 , B25J9/1075 , B25J9/1095 , B25J15/02 , B25J18/06 , B64C9/00 , B64C13/50 , B64C27/72 , B64C2027/7266 , Y02T50/34 , Y10T428/12486 , Y10T428/12535 , Y10T428/12569 , Y10T428/12771 , Y10T428/12875
摘要： Ion exchange membrane-based sensors, actuators and sensor/actuators and methods of making same for applications requiring sensing, actuating and controlling displacement. Sensors, actuators, and sensor/actuators are useful in biological as well as other applications. Encapsulation of the sensors, actuators, or sensor/actuators further increases the utility of the present invention. Devices according to the present invention made using lithium are preferred over those made using only sodium.
摘要翻译：基于离子交换膜的传感器，致动器和传感器/致动器以及用于需要感测，致动和控制位移的应用的方法。传感器，执行器和传感器/执行器可用于生物和其他应用。传感器，致动器或传感器/致动器的封装进一步增加了本发明的实用性。根据使用锂制造的本发明的器件优于仅使用钠制造的器件。

29. 发明授权

US06168634A Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same 有权
标题翻译：液压励磁磁流变复制肌肉组织和系统及其使用和控制方法
公开(公告)号：US06168634A
公开(公告)日：2001-01-02
申请号：US09275953
申请日：1999-03-25
申请人： Geoffrey W. Schmitz
发明人： Geoffrey W. Schmitz
IPC分类号： A61F254
CPC分类号： B25J9/142 , A61F2/54 , A61F2002/5066 , A61F2002/6863 , A61F2002/704 , A61F2002/745 , A61F2002/7655 , B25J9/1075 , F15B15/103 , F15B21/065
摘要： A hydraulically energized magnetorheological replicant muscle tissue is provided as well as a system and method for using and controlling the same. The artificial muscle tissue is capable of causing motion, inducing force and enabling control thereof with life-like action. Numerous muscle tissue elements may be combined together to form a tissue capable of causing motion, inducing force and enabling control. Each muscle tissue element may receive fluid from a fluid supply. Control of fluid entering and exiting the muscle tissue element through valves may be effected using a central processing unit. As a result thereof, life-like action and artificial muscle tissue may be formed that replicates actual muscle tissue.
摘要翻译：提供了一种液压励磁的磁流变复制肌肉组织，以及使用和控制肌肉组织的系统和方法。人造肌肉组织能够产生运动，诱导力并使其能够以类似的作用进行控制。许多肌肉组织元件可以组合在一起以形成能够引起运动，诱导力和使能控制的组织。每个肌肉组织元件可以从流体供应源接收流体。通过阀进入和离开肌肉组织元件的流体的控制可以使用中央处理单元进行。作为其结果，可以形成复制实际肌肉组织的生命样动作和人造肌肉组织。

30. 发明公开

US20240195327A1 ARTIFICIAL MUSCLE ASSEMBLIES INCLUDING A CENTRAL ARTIFICIAL MUSCLE AND A PLURALITY OF INITIATING ACTUATORS 审中-公开
公开(公告)号：US20240195327A1
公开(公告)日：2024-06-13
申请号：US18587304
申请日：2024-02-26
申请人： Toyota Motor Engineering & Manufacturing North America, Inc.
发明人： Michael P. Rowe , Shardul S. Panwar , Maduran Palaniswamy
IPC分类号： H02N1/00 , B25J9/10 , F15B15/10 , F15B21/06 , H01B3/44
CPC分类号： H02N1/002 , B25J9/1075 , F15B15/103 , F15B21/065 , H01B3/445
摘要： An artificial muscle assembly includes initiating actuators and an artificial muscle. The artificial muscle includes a housing including an electrode region and an expandable fluid region, and an electrode pair positioned in the electrode region. The electrode pair includes a first electrode and a second electrode fixed to respective first and second surfaces of the housing. At least one of the first electrode and the second electrode includes a central opening defining the expandable fluid region. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs a dielectric fluid into the expandable fluid region. Each initiating actuator is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state applies a force against the electrode region of the artificial muscle.

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