Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and iC; a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currents

Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and iC a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currents

Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device comprising: a base; and a robotic arm attached to the base and having an end-point, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.

Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and IC a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currents

Abstract: Apparatus for connecting a motor controller to an electrical motor, said apparatus comprising: a motor interface board; a mounting mechanism for mechanically connecting said motor interface board to the electrical motor; at least one input lead for electrically connecting said motor interface board to at least one of an electrical power source and an electrical signal source; at least one output lead for electrically connecting said motor interface board to the electrical motor; and at least one connector for mechanically and electrically connecting said motor interface board to the motor controller.

Abstract: Apparatus for connecting a motor controller to an electrical motor, said apparatus comprising: a motor interface board; a mounting mechanism for mechanically connecting said motor interface board to the electrical motor; at least one input lead for electrically connecting said motor interface board to at least one of an electrical power source and an electrical signal source; at least one output lead for electrically connecting said motor interface board to the electrical motor; and at least one connector for mechanically and electrically connecting said motor interface board to the motor controller.

Abstract: Apparatus for connecting a motor controller to an electrical motor, said apparatus comprising: a motor interface board; a mounting mechanism for mechanically connecting said motor interface board to the electrical motor; at least one input lead for electrically connecting said motor interface board to at least one of an electrical power source and an electrical signal source; at least one output lead for electrically connecting said motor interface board to the electrical motor; and at least one connector for mechanically and electrically connecting said motor interface board to the motor controller.

Abstract: This invention enables the affordability of an elaborate, high-performance teleoperator master controller while encouraging continual operator training by supporting a teleoperator system in which one centralized master controller controls multiple field slaves sequentially.

Abstract: A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking.

Abstract: A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking.