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1. 发明授权

US09333039B2 Systems and methods for providing vibration feedback in robotic systems 有权
标题翻译：在机器人系统中提供振动反馈的系统和方法
公开(公告)号：US09333039B2
公开(公告)日：2016-05-10
申请号：US13577581
申请日：2011-02-08
申请人： Katherine J. Kuchenbecker , Dorsey Standish , William McMahan , Jamie Gewirtz
发明人： Katherine J. Kuchenbecker , Dorsey Standish , William McMahan , Jamie Gewirtz
IPC分类号： A61B19/00 , G06F19/00 , A61B17/94 , G06F3/01
CPC分类号： A61B34/30 , A61B34/76 , A61B2018/0088
摘要： Systems and methods for providing vibration feedback in robotic systems are disclosed. A system for configuring a robotic surgery system to provide vibration feedback during robot-assisted surgery includes a sensor, an actuator, and a controller. The sensor is coupled to the robotic surgery system such that the sensor senses a vibration of a surgical tool. The actuator is coupled to the surgery system such that the actuator provides a vibration to a user at a control station. The controller is electrically coupled with the sensor and the actuator. The controller is configured to receive data corresponding to a sensed vibration from the sensor. The controller is further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the user when the sensor senses the vibration of the tool. The above system may be configured to provide tactile and/or audio feedback.
摘要翻译：公开了在机器人系统中提供振动反馈的系统和方法。用于配置机器人手术系统以在机器人辅助手术期间提供振动反馈的系统包括传感器，致动器和控制器。传感器耦合到机器人手术系统，使得传感器感测外科手术工具的振动。致动器联接到手术系统，使得致动器在控制站处向用户提供振动。控制器与传感器和致动器电耦合。控制器被配置为从传感器接收对应于感测到的振动的数据。控制器还被配置成基于所接收的数据致动致动器，使得当传感器感测到工具的振动时，致动器向使用者提供振动。上述系统可以被配置为提供触觉和/或音频反馈。

2. 发明授权

US08988445B2 Systems and methods for capturing and recreating the feel of surfaces 有权
标题翻译：用于捕获和重现表面感觉的系统和方法
公开(公告)号：US08988445B2
公开(公告)日：2015-03-24
申请号：US13193731
申请日：2011-07-29
申请人： Katherine J. Kuchenbecker , Joseph Romano , William McMahan , Nils Landin
发明人： Katherine J. Kuchenbecker , Joseph Romano , William McMahan , Nils Landin
IPC分类号： G09F5/00 , G09G5/08 , G06F3/02 , G06F3/01 , G06F3/0346 , G06F3/0354
CPC分类号： G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03545
摘要： Systems and methods for capturing and recreating the feel of a surface are disclosed. A method for capturing a feel of a surface comprises contacting the surface with a handheld tool, recording data measured by the tool, and generating a texture model of the surface based on the recorded data. A method for recreating a feel of a surface comprises contacting a virtual surface with a handheld tool, determining an estimated contact force based on the data measured by the tool, generating a vibration waveform from a texture model based on the data measured by the tool; and actuating at least one actuator of the tool according to the vibration waveform. A system for capturing and recreating a feel of a surface comprises a handheld tool, a storage device, and a processor.
摘要翻译：公开了用于捕获和重现表面感觉的系统和方法。用于捕获表面感觉的方法包括使表面与手持工具接触，记录由工具测量的数据，以及基于所记录的数据生成表面的纹理模型。用于重建表面感觉的方法包括将虚拟表面与手持工具接触，基于由工具测量的数据确定估计的接触力，基于由工具测量的数据从纹理模型生成振动波形; 并根据振动波形致动工具的至少一个致动器。用于捕获和重建表面感的系统包括手持工具，存储设备和处理器。

3. 发明申请

US20120310257A1 SYSTEMS AND METHODS FOR PROVIDING VIBRATION FEEDBACK IN ROBOTIC SYSTEMS 有权
标题翻译：用于在机器人系统中提供振动反馈的系统和方法
公开(公告)号：US20120310257A1
公开(公告)日：2012-12-06
申请号：US13577581
申请日：2011-02-08
申请人： Katherine J. Kuchenbecker , Dorsey Standish , William McMahan , Jamie Gewirtz
发明人： Katherine J. Kuchenbecker , Dorsey Standish , William McMahan , Jamie Gewirtz
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/76 , A61B2018/0088
摘要： Systems and methods for providing vibration feedback in robotic systems are disclosed. A system for configuring a robotic surgery system to provide vibration feedback during robot-assisted surgery includes a sensor, an actuator, and a controller. The sensor is coupled to the robotic surgery system such that the sensor senses a vibration of a surgical tool. The actuator is coupled to the surgery system such that the actuator provides a vibration to a user at a control station. The controller is electrically coupled with the sensor and the actuator. The controller is configured to receive data corresponding to a sensed vibration from the sensor. The controller is further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the user when the sensor senses the vibration of the tool. The above system may be configured to provide tactile and/or audio feedback.
摘要翻译：公开了在机器人系统中提供振动反馈的系统和方法。用于配置机器人手术系统以在机器人辅助手术期间提供振动反馈的系统包括传感器，致动器和控制器。传感器耦合到机器人手术系统，使得传感器感测外科手术工具的振动。致动器联接到手术系统，使得致动器在控制站处向用户提供振动。控制器与传感器和致动器电耦合。控制器被配置为从传感器接收对应于感测到的振动的数据。控制器还被配置成基于所接收的数据致动致动器，使得当传感器感测到工具的振动时，致动器向使用者提供振动。上述系统可以被配置为提供触觉和/或音频反馈。

4. 发明申请

US20120026180A1 SYSTEMS AND METHODS FOR CAPTURING AND RECREATING THE FEEL OF SURFACES 有权
标题翻译：用于捕获和恢复表面感觉的系统和方法
公开(公告)号：US20120026180A1
公开(公告)日：2012-02-02
申请号：US13193731
申请日：2011-07-29
申请人： Katherine J. Kuchenbecker , Joseph Romano , William McMahan , Nils Landin
发明人： Katherine J. Kuchenbecker , Joseph Romano , William McMahan , Nils Landin
IPC分类号： G09G5/00 , G06F17/50
CPC分类号： G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03545
摘要： Systems and methods for capturing and recreating the feel of a surface are disclosed. A method for capturing a feel of a surface comprises contacting the surface with a handheld tool, recording data measured by the tool, and generating a texture model of the surface based on the recorded data. A method for recreating a feel of a surface comprises contacting a virtual surface with a handheld tool, determining an estimated contact force based on the data measured by the tool, generating a vibration waveform from a texture model based on the data measured by the tool; and actuating at least one actuator of the tool according to the vibration waveform. A system for capturing and recreating a feel of a surface comprises a handheld tool, a storage device, and a processor.
摘要翻译：公开了用于捕获和重现表面感觉的系统和方法。用于捕获表面感觉的方法包括使表面与手持工具接触，记录由工具测量的数据，以及基于所记录的数据生成表面的纹理模型。用于重建表面感觉的方法包括将虚拟表面与手持工具接触，基于由工具测量的数据确定估计的接触力，基于由工具测量的数据从纹理模型生成振动波形; 并根据振动波形致动工具的至少一个致动器。用于捕获和重建表面感的系统包括手持工具，存储设备和处理器。

5. 发明申请

US20160256761A1 NONOBSTRUCTIONAL GOLF PRACTICE DEVICE 有权
标题翻译：非专业高尔夫实践设备
公开(公告)号：US20160256761A1
公开(公告)日：2016-09-08
申请号：US15061998
申请日：2016-03-04
申请人： David Vanacore , Kenneth William McMahan , Ammon Michael Kling
发明人： David Vanacore , Kenneth William McMahan , Ammon Michael Kling
IPC分类号： A63B69/36 , A63B24/00
CPC分类号： A63B69/36 , A63B24/0003 , A63B43/06 , A63B55/408 , A63B69/3614 , A63B69/3676 , A63B2220/806
摘要： Golf practice devices are adapted to facilitate practicing without obstructing a putting surface or practice area. According to one example, a golf practice device can include a first base member with a first clamping end and a first handle end, and a second base member with a second clamping end and a second handle end. A portion of the first base member located between the first clamping end and the first handle end may be hingedly coupled to a portion of the second base member located between the second clamping end and the second handle. At least one coupling arm may be pivotably mounted to the first base member, and an attachment feature may be coupled to the first coupling arm. In some examples, a sight or a cell phone with an integrated camera may be coupled to the attachment feature. Other aspects, embodiments, and features are also included.
摘要翻译：高尔夫练习装置适于促进练习而不会妨碍放置表面或练习区域。根据一个示例，高尔夫练习装置可以包括具有第一夹持端和第一手柄端的第一基部构件，以及具有第二夹持端和第二手柄端的第二基座构件。位于第一夹持端和第一手柄端之间的第一基底构件的一部分可以铰接地联接到位于第二夹持端和第二手柄之间的第二基底构件的一部分。至少一个联接臂可以可枢转地安装到第一基座构件，并且附接构件可以联接到第一联接臂。在一些示例中，具有集成摄像机的视线或手机可以耦合到附件特征。还包括其他方面，实施例和特征。

6. 发明申请

US20070067894A1 MOUNT FOR DIGITALLY ENHANCED NIGHT VISION DEVICE 审中-公开
标题翻译：数字增强夜视设备的安装
公开(公告)号：US20070067894A1
公开(公告)日：2007-03-29
申请号：US11308462
申请日：2006-03-28
申请人： Loig BOURREE , John MURPHY , James PRUET , William McMAHAN
发明人： Loig BOURREE , John MURPHY , James PRUET , William McMAHAN
IPC分类号： A42B1/24
CPC分类号： F41H1/04 , F41G1/32 , G02B7/002 , G02B23/125 , G02B27/0176 , G02B2027/0138 , G02B2027/0156
摘要： A system (M) for removably mounting a device (D) that is viewable by a user (U) to an essentially rigid headgear (H) includes a removable strap assembly (10) extending about the headgear (H). The strap assembly (10) includes a strap (18) with a first end (20) having a first securing means (24) to engage a first edge (26) of the head gear (H.) A second securing means (28) secures the strap (18) to a second edge (20). A mounting assembly (32) extends from the strap assembly (10) in proximity to a first end (14) of the strap assembly (10) for controllably positioning the device (D) in an ocular axis (34) of the user (U). The mounting assembly (32) controllably adjusts the device (D) along a forward and backward axis (A1), a vertical axis (A4), and a horizontal axis (A2) of the viewer (U).
摘要翻译：用于可拆卸地安装由用户（U）可观看到基本上刚性的头饰（H）的装置（D）的系统（M）包括围绕头饰（H）延伸的可拆卸带组件（10）。带组件（10）包括具有第一端（20）的带子（18），第一端部（20）具有与头部齿轮（H）的第一边缘（26）接合的第一固定装置（24）。第二固定装置（28）将带子（18）固定到第二边缘（20）。安装组件（32）从绑带组件（10）延伸到带组件（10）的第一端（14）附近，用于可控地将设备（D）定位在用户的眼轴（34）（U ）。安装组件（32）沿着观察者（U）的前后轴线（A 1），垂直轴线（A 4）和水平轴线（A 2）可控制地调节装置（D）。

7. 外观设计

USD524339S1 Digitally enhanced night vision device 有权
标题翻译：数字增强型夜视装置
公开(公告)号：USD524339S1
公开(公告)日：2006-07-04
申请号：US29225203
申请日：2005-03-11
申请人： William Hayne Waring, II , Michael D. Waterman , Kenneth W. Sauter , John Murphy , Loig E. Bourree , Bruce V. Hoodswain , Sung K. Son , James D. Pruet , William McMahan
设计人： William Hayne Waring, II , Michael D. Waterman , Kenneth W. Sauter , John Murphy , Loig E. Bourree , Bruce V. Hoodswain , Sung K. Son , James D. Pruet , William McMahan

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