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21. 发明公开

US20230173684A1 EMBEDDED SYSTEM FOR DEXTEROUS HAND 审中-公开
公开(公告)号：US20230173684A1
公开(公告)日：2023-06-08
申请号：US17920046
申请日：2021-05-13
申请人： SHENZHEN DORABOT INC.
发明人： Tao Wang , Zheng Xie , Yuan Li , Shuqu Chen , Zhongying Huang
IPC分类号： B25J13/02 , H04L12/40 , B25J13/08 , B25J15/08
CPC分类号： B25J13/02 , H04L12/40032 , B25J13/08 , B25J15/08 , H04L2012/40215
摘要： The invention discloses an embedded system for dexterous hand, comprising: a central communication unit, several fingers, a palm; wherein the central communication unit communicates with the fingers, the palm and a host computer, and is configured to receive an operation instruction from the host computer, and convert the operation instruction into a control instruction and send it to the fingers and the palm; the fingers and the palm are designed to be compatible in hardware structure, and are connected by serial communication; the fingers and the palm move according to the control instructions. The fingers and palm are designed as embedded compatibility standards, which makes the dexterous hand more flexible and easy to maintain and use with lower cost. Thus, the dexterous hand has the advantages of high flexibility, high reliability, strong anti-interference, low cost, high transmission speed, convenient maintenance, and good user experience.

22. 发明授权

US11633847B2 Sensing and control systems 有权
公开(公告)号：US11633847B2
公开(公告)日：2023-04-25
申请号：US16827289
申请日：2020-03-23
申请人： Massachusetts Institute of Technology
发明人： Haruhiko Harry Asada , Jacob Guggenheim
IPC分类号： G06F3/01 , B25J9/16 , B25J9/00 , B25J13/02
摘要： A system and a method for controlling a system are described. The system includes a plurality of sensors configured to be worn on a user's body. The plurality of sensors are configured to generate a plurality of signals in response to forces applied by corresponding portions of a user's body. The system also includes a processor configured to receive the plurality of signals. The processor is configured to identify commands from the user based at least partly on the plurality of signals and an operational range and/or null space of the plurality of signals for a task being performed by the user. The processor is configured to control an operation of the system based on the identified commands.

23. 发明授权

US11607815B2 Two-degree-of-freedom rope-driven finger force feedback device 有权
公开(公告)号：US11607815B2
公开(公告)日：2023-03-21
申请号：US17609446
申请日：2021-01-29
申请人： SOUTHEAST UNIVERSITY
发明人： Aiguo Song , Bincheng Shao , Huijun Li , Hong Zeng , Baoguo Xu
IPC分类号： B25J13/08 , B25J13/02 , B33Y80/00
摘要： The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.

24. 发明授权

US11596490B2 Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose 有权
公开(公告)号：US11596490B2
公开(公告)日：2023-03-07
申请号：US17168125
申请日：2021-02-04
申请人： Intuitive Surgical Operations, Inc.
发明人： Nicola Diolaiti , Paul E. Lilagan
IPC分类号： A61B34/00 , B25J9/16 , A61B34/30 , A61B34/37 , A61B34/35 , B25J13/02 , A61B34/10 , A61B90/30 , A61B90/00
摘要： A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force command based on a difference between the commanded pose and the first preferred pose, and actuate the input device based on the first feedback force command.

25. 发明授权

US11572167B2 Unmanned aerial vehicle with a dynamic balance system 有权
公开(公告)号：US11572167B2
公开(公告)日：2023-02-07
申请号：US17068701
申请日：2020-10-12
申请人： Lucio Volpi
发明人： Lucio Volpi
IPC分类号： B64C39/02 , B64D47/00 , B25J9/06 , B25J13/02 , B25J19/02 , B25J15/00 , B25J11/00
摘要： An unmanned aerial vehicle having a dynamic balance system that comprises a moveable battery support to secure a vehicle battery to the vehicle, the moveable battery support being attached to an actuator that will shift the moveable battery support relative to the vehicle body under the control of an electronic controller during vehicle operations to help maintain the balance and orientation of the vehicle.

26. 发明申请

US20230034130A1 REMOTE CONTROL DEVICE 有权
公开(公告)号：US20230034130A1
公开(公告)日：2023-02-02
申请号：US17784198
申请日：2020-11-24
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Masayuki KAMON , Kenji KITANI , Tomoki OKA
IPC分类号： B25J13/02 , B25J13/08 , B25J9/16
摘要： A remote control device includes: a first arm; a second arm connected to a tip-end part of the first arm; two rotary bodies disposed at a tip of the second arm; a link structure including link members fixed to the two rotary bodies; and a user interface attached to the link structure. The two rotary bodies are independently and rotatably supported by respective coaxial drive shafts. The user interface is pivotable, with respect to the second arm, on each of mutually-perpendicular three axes passing through a center point of the link structure. The link structure is disposed at the lateral side of the rotary bodies so that the center point is located on an axis of the two drive shafts. The user interface is attached to the link structure on an axis of a rotation shaft passing through the center point.

27. 发明授权

US11559898B2 Teleoperation system, method, apparatus, and computer-readable medium 有权
公开(公告)号：US11559898B2
公开(公告)日：2023-01-24
申请号：US16652862
申请日：2018-10-05
申请人： Moog Inc.
发明人： Michael G. Fattey , Jos Meuleman , Gonzalo Rey
IPC分类号： B25J9/16 , B25J9/00 , B25J13/02 , B25J13/08
摘要： Embodiments of the present disclosure provide a system, method, apparatus and computer-readable medium for teleoperation. An exemplary system includes a robot machine having a machine body, at least one sensor, at least one robot processor, and at least one user processor operable to maintain a user simulation model of the robot machine and the environment surrounding the robot machine, the at least one user processor being remote from the robot machine. The system further includes at least one user interface comprising a haptic user interface operable to receive user commands and to transmit the user commands to the user simulation model, a display operable to display a virtual representation of the user simulation model.

28. 发明申请

US20220355483A1 Methods and Systems for Graphical User Interfaces to Control Remotely Located Robots 有权
公开(公告)号：US20220355483A1
公开(公告)日：2022-11-10
申请号：US17753978
申请日：2019-11-19
申请人： Google LLC
发明人： Johnny Lee , Stefan Welker
IPC分类号： B25J9/16 , B25J13/02 , B25J13/08
摘要： An example method for providing a graphical user interface (GUI) of a computing device includes receiving an input indicating a target pose of the robot, providing for display on the GUI of the computing device a transparent representation of the robot as a preview of the target pose in combination with the textured model of the robot indicating the current state of the robot, generating a boundary illustration on the GUI representative of a limit of a range of motion of the robot, based on the target pose extending the robot beyond the boundary illustration, modifying characteristics of the transparent representation of the robot and of the boundary illustration on the GUI to inform of an invalid pose, and based on the target pose being a valid pose, sending instructions to the robot causing the robot to perform the target pose.

29. 发明授权

US11478937B2 Care robot controller 有权
公开(公告)号：US11478937B2
公开(公告)日：2022-10-25
申请号：US17280305
申请日：2020-04-21
申请人： SOUTHEAST UNIVERSITY
发明人： Aiguo Song , Chaolong Qin , Jiahang Zhu , Linhu Wei , Yu Zhao , Huijun Li , Baoguo Xu
IPC分类号： G06F3/033 , B25J13/02 , G06F3/01 , G06F3/0338
摘要： The present invention discloses a care robot controller, which includes: a controller body that includes slide rails, finger slot sliders and a joystick, wherein the finger slot sliders are movably arranged on the slide rails and configured to receive pressing, and the joystick is configured to control the care robot; a gesture parsing unit configured to parse three-dimensional gestures of the controller body, and control the care robot to perform corresponding actions when the three-dimensional gestures of the controller body are in line with preset gestures; and a tactile sensing unit configured to sense the pressing received by the finger slot sliders and initiate a user mode corresponding to the pressing information, so that the controller body provides corresponding vibration feedback. Thus the user can control the controller efficiently and conveniently, the control accuracy is improved, and effective man-machine interaction is realized.

30. 发明授权

US11432888B2 Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide 有权
公开(公告)号：US11432888B2
公开(公告)日：2022-09-06
申请号：US16294442
申请日：2019-03-06
申请人： Intuitive Surgical Operations, Inc.
发明人： Nicola Diolaiti , Paul E. Lilagan
IPC分类号： A61B34/30 , A61B1/00 , A61B17/00 , A61B34/00 , A61B34/37 , B25J13/02 , B25J19/02 , A61B34/20 , A61B17/34
摘要： A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

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