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1. 发明申请

US20150150639A1 MEDICAL ROBOTIC SYSTEM PROVIDING SENSORY FEEDBACK INDICATING A DIFFERENCE BETWEEN A COMMANDED STATE AND A PREFERRED POSE OF AN ARTICULATED INSTRUMENT 审中-公开
标题翻译：提供感官反馈的医疗机器人系统表示指令状态与仪器仪表的优选位置之间的差异
公开(公告)号：US20150150639A1
公开(公告)日：2015-06-04
申请号：US14551283
申请日：2014-11-24
申请人： Intuitive Surgical Operations, Inc.
发明人： Nicola Diolaiti , Paul E. Lilagan
IPC分类号： A61B19/00 , B25J9/16
CPC分类号： B25J9/161 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/361 , A61B2034/102 , A61B2034/305 , A61B2034/741 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2090/306 , B25J9/1633 , Y10S901/33 , Y10S901/34
摘要： A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.
摘要翻译：医疗机器人系统包括具有从其远端延伸出的关节式器械的进入引导件。控制器被配置为命令操纵其中一个铰接乐器朝向由操作者操纵输入装置所指示的状态，同时指示对操作者的感觉反馈，指示指示状态与铰接乐器的优选姿态之间的差异，使得感官反馈用于鼓励操作者将关节器械返回到其优选姿势。

2. 发明申请

US20130184871A1 ROBOT ARM CONTROL APPARATUS, ROBOT ARM CONTROL METHOD, ROBOT, ROBOT ARM CONTROL PROGRAM, AND INTEGRATED ELECTRONIC CIRCUIT 有权
标题翻译：机器人ARM控制装置，机器人ARM控制方法，机器人，机器人ARM控制程序和集成电子电路
公开(公告)号：US20130184871A1
公开(公告)日：2013-07-18
申请号：US13785324
申请日：2013-03-05
申请人： Panasonic Corporation
发明人： Yudai FUDABA , Masaki YAMAMOTO , Yuko TSUSAKA , Taichi SATO
IPC分类号： B25J13/02
CPC分类号： B25J13/02 , B25J13/081 , G05B19/423 , G05B2219/36453 , Y10S901/02 , Y10S901/03 , Y10S901/04 , Y10S901/09 , Y10S901/20 , Y10S901/30 , Y10S901/33 , Y10S901/46
摘要： A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.
摘要翻译：机器人手臂包括夹持部，其构造成与附接到机器人臂的末端执行器分离。当抓握部分被使用者抓住并移动时，机器人手臂移动跟踪抓握部分。此外，握持部包括接触传感器，并且根据接触传感器的值切换跟踪控制方法。

3. 发明授权

US08789568B2 Tape detection system 有权
标题翻译：磁带检测系统
公开(公告)号：US08789568B2
公开(公告)日：2014-07-29
申请号：US13198864
申请日：2011-08-05
申请人： Richard S. Malik, Jr.
发明人： Richard S. Malik, Jr.
IPC分类号： B32B41/00 , B25J19/02 , B25J13/08 , B25J15/02 , B25J9/10 , B25J9/16
CPC分类号： B25J19/021 , B25J9/1015 , B25J9/1612 , B25J9/1676 , B25J13/086 , B25J15/02 , B65H16/00 , B65H20/18 , B65H35/0033 , B65H2405/52 , B65H2405/581 , B65H2405/584 , B65H2511/51 , B65H2513/51 , B65H2701/11332 , H01L31/188 , Y02E10/50 , Y10S294/907 , Y10S901/31 , Y10S901/32 , Y10S901/33 , Y10S901/35 , Y10S901/39 , B65H2220/01 , B65H2220/02
摘要： Machines for manufacturing photovoltaic modules and methods for manufacturing photovoltaic modules can include tape handling components.
摘要翻译：用于制造光伏模块的机器和用于制造光伏模块的方法可以包括带处理部件。

4. 发明申请

US20120290133A1 ROBOT HAND AND ROBOT 有权
标题翻译：机器手和机器人
公开(公告)号：US20120290133A1
公开(公告)日：2012-11-15
申请号：US13467547
申请日：2012-05-09
申请人： Yoshinobu GOTO , Kenjiro MURAKAMI , Kazuto YOSHIMURA
发明人： Yoshinobu GOTO , Kenjiro MURAKAMI , Kazuto YOSHIMURA
IPC分类号： B25J13/08 , B25J19/02 , B25J15/10
CPC分类号： B25J15/10 , B25J9/1612 , B25J15/0253 , Y10S901/31 , Y10S901/33 , Y10S901/34
摘要： A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.
摘要翻译：机器人手具有包括感测与物体的接触的接触感测手指的多个手指。设置有手指的基座检测作为来自手指的反作用力的组合的所得到的反作用力。当没有检测到合成的反作用力时，多个指状物朝向物体移动，并且当接触感测手指与物体接触时，驱动手指的力被切换到与抓握力相对应的力。当接触检测指状物没有与物体接触，但是检测到合成的反作用力时，手指的驱动终止，并且基底的位置通过使得基底沿所产生的反作用力具有未对其起作用。

5. 发明申请

US20170173788A1 MEDICAL ROBOTIC SYSTEM PROVIDING SENSORY FEEDBACK INDICATING A DIFFERENCE BETWEEN A COMMANDED STATE AND A PREFERRED POSE OF AN ARTICULATED INSTRUMENT 审中-公开
公开(公告)号：US20170173788A1
公开(公告)日：2017-06-22
申请号：US15454085
申请日：2017-03-09
申请人： Intuitive Surgical Operations, Inc.
发明人： Nicola Diolaiti , Paul E. Lilagan
IPC分类号： B25J9/16 , A61B34/37 , A61B34/00
CPC分类号： B25J9/161 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/361 , A61B2034/102 , A61B2034/305 , A61B2034/741 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2090/306 , B25J9/1633 , Y10S901/33 , Y10S901/34
摘要： A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.

6. 发明授权

US08897918B2 Robot hand and robot 有权
标题翻译：机器人手和机器人
公开(公告)号：US08897918B2
公开(公告)日：2014-11-25
申请号：US13467547
申请日：2012-05-09
申请人： Yoshinobu Goto , Kenjiro Murakami , Kazuto Yoshimura
发明人： Yoshinobu Goto , Kenjiro Murakami , Kazuto Yoshimura
IPC分类号： B25J13/08 , B25J15/02 , B25J9/16 , B25J15/10
CPC分类号： B25J15/10 , B25J9/1612 , B25J15/0253 , Y10S901/31 , Y10S901/33 , Y10S901/34
摘要： A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.
摘要翻译：机器人手具有包括感测与物体的接触的接触感测手指的多个手指。设置有手指的基座检测作为来自手指的反作用力的组合的所得到的反作用力。当没有检测到合成的反作用力时，多个指状物朝向物体移动，并且当接触感测手指与物体接触时，驱动手指的力被切换到与抓握力相对应的力。当接触检测指状物没有与物体接触，但是检测到合成的反作用力时，手指的驱动终止，并且基底的位置通过使得基底沿着所产生的反作用力具有未对其起作用。

7. 发明申请

US20120031549A1 TAPE DETECTION SYSTEM 有权
标题翻译：胶带检测系统
公开(公告)号：US20120031549A1
公开(公告)日：2012-02-09
申请号：US13198864
申请日：2011-08-05
申请人： Richard S. Malik, JR.
发明人： Richard S. Malik, JR.
IPC分类号： B65C9/42
CPC分类号： B25J19/021 , B25J9/1015 , B25J9/1612 , B25J9/1676 , B25J13/086 , B25J15/02 , B65H16/00 , B65H20/18 , B65H35/0033 , B65H2405/52 , B65H2405/581 , B65H2405/584 , B65H2511/51 , B65H2513/51 , B65H2701/11332 , H01L31/188 , Y02E10/50 , Y10S294/907 , Y10S901/31 , Y10S901/32 , Y10S901/33 , Y10S901/35 , Y10S901/39 , B65H2220/01 , B65H2220/02
摘要： Machines for manufacturing photovoltaic modules and methods for manufacturing photovoltaic modules can include tape handling components.
摘要翻译：用于制造光伏模块的机器和用于制造光伏模块的方法可以包括带处理部件。

8. 发明申请

US20180333858A1 ROBOT HAND, ROBOT APPARATUS, AND CONTROL METHOD FOR ROBOT HAND 审中-公开
公开(公告)号：US20180333858A1
公开(公告)日：2018-11-22
申请号：US15978910
申请日：2018-05-14
申请人： CANON KABUSHIKI KAISHA
发明人： Hidetada Asano , Shuuichi Sato
IPC分类号： B25J9/16 , B25J15/00 , B25J15/10
CPC分类号： B25J9/1694 , B25J9/1612 , B25J13/082 , B25J15/0009 , B25J15/10 , G05B2219/39409 , G05B2219/39466 , G05B2219/39486 , G05B2219/39505 , G05B2219/39528 , G05B2219/39555 , Y10S901/09 , Y10S901/33 , Y10S901/46
摘要： Force sensors capable of measuring only forces in xyz coordinate axis directions are installed in fingertips, respectively, and forces and moment forces acting on a robot hand are calculated based on positional information about each fingertip. This structure eliminates the need for using large force sensors to thereby enable downsizing of each fingertip, and enables detection of loads and moment forces acting on the robot hand.

9. 发明授权

US09120233B2 Non-contact optical distance and tactile sensing system and method 有权
标题翻译：非接触式光学距离和触觉感应系统及方法
公开(公告)号：US09120233B2
公开(公告)日：2015-09-01
申请号：US13485691
申请日：2012-05-31
申请人： Douglas A. Moore
发明人： Douglas A. Moore
IPC分类号： B25J13/08 , B25J15/10
CPC分类号： B25J13/08 , B25J13/084 , B25J13/086 , B25J15/10 , Y10S901/31 , Y10S901/33 , Y10S901/35 , Y10S901/46
摘要： The systems and methods are directed to mechanical arms and manipulators, and more particularly, to optical distance sensors in use for approach, grasping and manipulation. The system may include a manipulator having an arm and a multi fingered end-effector coupled to the distal end of the arm. The end-effector may include an optical proximity sensor configured to detect the distance to an object prior to contact with the object. The end-effector may include an optical proximity sensor configured detect a measurement of force applied to the object by the manipulator post contact with the object. The measurement of force may be a range of force measurements including a minimum, a maximum and a measurement between or within the minimum and the maximum.
摘要翻译：系统和方法涉及机械臂和操纵器，更具体地，涉及用于接近，抓握和操纵的光学距离传感器。该系统可以包括操纵器，其具有联接到臂的远端的臂和多指末端执行器。末端执行器可以包括配置成在与物体接触之前检测到物体的距离的光学接近传感器。末端执行器可以包括光学接近传感器，其配置为检测通过与物体接触的操纵器施加到物体的力的测量。力的测量可以是力测量的范围，包括在最小值和最大值之间或之内的最小值，最大值和测量值。

10. 发明授权

US08909374B2 Robot arm control apparatus, robot arm control method, robot, robot arm control program, and integrated electronic circuit 有权
标题翻译：机器人臂控制装置，机器人臂控制方法，机器人，机器人手臂控制程序和集成电子电路
公开(公告)号：US08909374B2
公开(公告)日：2014-12-09
申请号：US13785324
申请日：2013-03-05
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Masaki Yamamoto , Yuko Tsusaka , Taichi Sato
IPC分类号： G05B19/04 , G05B19/18 , G05B15/00 , G05B19/00 , B25J13/02 , B25J13/08 , G05B19/423
CPC分类号： B25J13/02 , B25J13/081 , G05B19/423 , G05B2219/36453 , Y10S901/02 , Y10S901/03 , Y10S901/04 , Y10S901/09 , Y10S901/20 , Y10S901/30 , Y10S901/33 , Y10S901/46
摘要： A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.
摘要翻译：机器人手臂包括夹持部，其构造成与附接到机器人臂的末端执行器分离。当抓握部分被使用者抓住并移动时，机器人手臂移动跟踪抓握部分。此外，握持部包括接触传感器，并且根据接触传感器的值切换跟踪控制方法。

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