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1. 发明申请

WO2012162000A2 HAPTIC DEVICE FOR MANIPULATOR AND VEHICLE CONTROL 审中-公开
标题翻译：用于操纵器和车辆控制的快速装置
公开(公告)号：WO2012162000A2
公开(公告)日：2012-11-29
申请号：PCT/US2012037751
申请日：2012-05-14
申请人： HARRIS CORP
发明人： SUMMER MATTHEW D , BOSSCHER PAUL M , WILKINSON LORAN J , BOWMAN WILLIAM S , RUST JOHN B
IPC分类号： B25J9/16 , G05B19/409 , G05G9/047
CPC分类号： B25J9/1689 , G05B19/409
摘要： An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).
摘要翻译：用于将人类控制输入手势转换为远程信息处理控制信号的接口（101）包括多个关节臂（107,108,109），每个关节臂（107,108,109）分别安装在基端（113,115,117）到接口基部，终止于壳体（106）。铰接臂可操作以允许壳体在三个正交方向上的线性平移运动。提供第一类型的至少一个传感器（116）用于测量线性平移运动。枢轴构件（201）设置在壳体中并且布置成围绕单个枢转点枢转。提供把手（102）并且附接到枢转构件，使得使用者在握住把手时可以使枢轴在壳体内旋转。提供按钮118以在至少两种模式之间切换，其中当处于第一模式时，控制信号用于控制车辆基座（502），并且当处于第二模式时，控制信号用于控制机器臂 504），其耦合到所述车辆基座（502）。

2. 发明申请

WO2012099686A3 TELEMATIC INTERFACE WITH DIRECTIONAL TRANSLATION 审中-公开
标题翻译：远程接口与方向翻译
公开(公告)号：WO2012099686A3
公开(公告)日：2012-11-15
申请号：PCT/US2011066822
申请日：2011-12-22
申请人： HARRIS CORP
发明人： BOSSCHER PAUL M , SUMMER MATTHEW D , WILKINSON LORAN J , BOWMAN WILLIAM S
IPC分类号： B25J9/16
CPC分类号： B25J13/025 , B25J5/005 , B25J9/1689 , B25J19/023 , G05B2219/39065 , G05B2219/40184 , G05B2219/40401 , G06F3/017
摘要： Method and system for telematic control of a slave device. Displacement of a user interface control is sensed with respect to a control direction. A first directional translation is performed to convert data specifying the control direction to data specifying a slave direction. The slave direction will generally be different from the control direction and defines a direction that the slave device should move in response to the physical displacement of the user interface. A second directional translation is performed to convert data specifying haptic sensor data to a haptic feedback direction. The haptic feedback direction will generally be different from the sensed direction and can define a direction of force to be generated by at least one component of the user interface. The first and second directional translation are determined based on a point-of-view of an imaging sensor.
摘要翻译：远程控制从属设备的方法和系统。相对于控制方向感测用户界面控件的位移。执行第一方向转换以将指定控制方向的数据转换为指定从方向的数据。从属方向通常与控制方向不同，并且定义从属设备响应于用户界面的物理位移而应该移动的方向。执行第二方向转换以将指定触觉传感器数据的数据转换为触觉反馈方向。触觉反馈方向将通常不同于感测的方向，并且可以定义由用户界面的至少一个组件产生的力的方向。第一和第二方向平移基于成像传感器的视点来确定。

3. 发明申请

WO2014055803A3 FORCE AND TORQUE SENSORS 审中-公开
标题翻译：力和扭矩传感器
公开(公告)号：WO2014055803A3
公开(公告)日：2014-07-24
申请号：PCT/US2013063339
申请日：2013-10-04
申请人： HARRIS CORP
发明人： BOSSCHER PAUL M , SUMMER MATTHEW D , RUST JOHN B , MURPHY-DUBAY NICHOLAS , BOWMAN WILLIAM S , WILKINSON LORAN J
IPC分类号： G01L5/22 , G01L1/22 , G01L3/10 , G01L3/14 , G01L5/16
CPC分类号： G01L5/226 , G01L1/2281 , G01L5/161
摘要： Force and torque sensors (10, 10a) include a load-bearing element (12), and strain gauges (20, 22, 23) mounted on the load-bearing element (12) so that the strain gauges (20, 22, 23) generate outputs responsive to external forces and moments applied to the load-bearing element (12). The strain gauges (20, 22, 23) are configured, and the responsive outputs of the strain gauges (20, 22, 23) are processed such that the force and moment measurements generated by the sensors (10, 10a) are substantially immune from drift due to thermally-induced strain in the load-bearing element (12).
摘要翻译：力和扭矩传感器（10,10a）包括承载元件（12）和安装在承载元件（12）上的应变计（20,22,23），使得应变计（20,22,23 ）响应于施加到承载元件（12）的外力和力矩而产生输出。应变仪（20,22,23）被配置，并且应变仪（20,22,23）的响应输出被处理，使得由传感器（10,10a）产生的力和力矩测量值基本上不受由于承载元件（12）中的热致应变而引起漂移。

4. 发明申请

WO2012151057A3 REMOTE CONTROL INTERFACE 审中-公开
标题翻译：远程控制界面
公开(公告)号：WO2012151057A3
公开(公告)日：2012-12-27
申请号：PCT/US2012034207
申请日：2012-04-19
申请人： HARRIS CORP
发明人： BOSSCHER PAUL M , SUMMER MATTHEW D , RUST JOHN B , WILKINSON LORAN J , BOWMAN WILLIAM S
IPC分类号： G05B19/427
CPC分类号： G05B19/427
摘要： Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.
摘要翻译：用于将人控输入手势转换为远程信息控制信号的接口（101）。接口包括多个铰接臂（107a，107b，108a，108b和109a，109b），每个铰接臂分别安装在基端（113,115,117）到接口基座，并在相对的一端连接到外壳（106 ）。铰接臂可操作以允许壳体在三个正交方向上的线性平移运动。提供第一类型的至少一个传感器（116）用于测量线性平移运动。枢轴构件（201）设置在壳体中并且布置成围绕单个枢转点枢转。提供把手（102）并且附接到枢转构件，使得使用者在握住把手时可以使枢轴在壳体内旋转。

5. 发明申请

WO2014074781A3 HYBRID GESTURE CONTROL HAPTIC SYSTEM 审中-公开
标题翻译：混合风格控制习惯系统
公开(公告)号：WO2014074781A3
公开(公告)日：2014-07-03
申请号：PCT/US2013069071
申请日：2013-11-08
申请人： HARRIS CORP
发明人： SUMMER MATTHEW D , BOSSCHER PAUL M
IPC分类号： B25J13/02 , B25J9/16 , B25J13/08
CPC分类号： B25J13/025 , B25J13/02 , B25J13/081 , B25J13/084
摘要： System (100) and methods (500) for remotely controlling a slave device (102). The methods involve: using a Hybrid Hand Controller ("HHC") as a full haptic controller to control the slave device when the HHC (406) is coupled to a docking station (460); detecting when the HHC is or is being physically de-coupled from the docking station; automatically and seamlessly transitioning an operational mode of at least the HHC from a full haptic control mode to a gestural control mode, in response to a detection that the HHC is or is being de-coupled from the docking station; and using at least the HHC as a portable gestural controller to control the slave device when the HHC is de-coupled from the docking station.
摘要翻译：用于远程控制从设备（102）的系统（100）和方法（500）。所述方法包括：当HHC（406）耦合到坞站（460）时，使用混合手控制器（“HHC”）作为完全触觉控制器来控制从设备; 检测何时HHC正在或者正在与对接站物理去耦合; 响应于HHC正在或正在从对接站去耦合的检测，将至少HHC的操作模式从完全触觉控制模式自动地和无缝地转换到手势控制模式; 并且当HHC从对接站解耦时，至少使用HHC作为便携式手势控制器来控制从设备。

6. 发明申请

WO2013025978A3 HAPTIC MANIPULATION SYSTEM FOR WHEELCHAIRS 审中-公开
标题翻译：轮椅的HAPTIC操纵系统
公开(公告)号：WO2013025978A3
公开(公告)日：2013-06-20
申请号：PCT/US2012051314
申请日：2012-08-17
申请人： HARRIS CORP
发明人： SUMMER MATTHEW D , BOSSCHER PAUL M , DAVIS LAURANCE H III
IPC分类号： B25J13/02 , A61G5/04 , A61G5/10
CPC分类号： B25J13/025 , A61G5/04 , A61G5/10 , A61G5/1051 , A61G5/1094 , A61G2203/14 , A61G2203/36 , Y10S901/02 , Y10S901/30 , Y10S901/31 , Y10S901/34 , Y10T74/20305
摘要： A robotic arm (500) is mounted on a personal mobility device (506), such as a wheelchair, scooter or the like, and is controlled with a user input interface (101), also mounted on the personal mobility device. The user input interface has a grip (102) operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) supporting a housing (106) with a pivot member (105).
摘要翻译：机器人手臂（500）安装在个人移动设备（506）上，例如轮椅，踏板车等，并且利用也安装在个人移动设备上的用户输入接口（101）进行控制。用户输入接口具有可由用户操作以在空间上和角度上在多个正交方向上移动的抓握部（102），其具有支撑壳体（106）的铰接臂（107a，107b，108a，108b和109a，109b））与枢轴构件（105）。

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