Patents by Inventor Donald R. Davis
Donald R. Davis has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Patent number: 9878452Abstract: A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.Type: GrantFiled: June 15, 2015Date of Patent: January 30, 2018Assignees: GM Global Technology Operations LLC, The United States of America As Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Donald R. Davis, Chris A. Ihrke, Evan Laske
-
Publication number: 20160361820Abstract: A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.Type: ApplicationFiled: June 15, 2015Publication date: December 15, 2016Applicants: GM GLOBAL TECHNOLOGY OPERATIONS LLC, The U.S.A. As Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Donald R. Davis, Chris A. Ihrke, Evan Laske
-
Publication number: 20160214261Abstract: A system for robot and human collaboration is provided. The system includes a robot having a programmed path for motion of the robot and a controller in communication with the robot. The controller has a processor and tangible, non-transitory memory on which is recorded instructions for an action to take when an unexpected contact between the robot and an object is detected. The controller is programmed to execute the instructions from the memory via the processor when the unexpected contact is detected, causing the robot to stop motion on a programmed path and to enter a push away mode. In the push away mode, the human can apply a push force having a push force direction to command the robot to move in the push force direction.Type: ApplicationFiled: January 22, 2015Publication date: July 28, 2016Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Donald R. Davis, Chris A. Ihrke, Douglas M. Linn, Jonathan Y. Chen
-
Patent number: 9120220Abstract: A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.Type: GrantFiled: February 29, 2012Date of Patent: September 1, 2015Assignees: GM Global Technology Operations LLC, The United States of America As Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Bryan J Bergelin, Chris A. Ihrke, Donald R. Davis, Douglas Martin Linn, Adam M Sanders, R. Scott Askew, Evan Laske, Kody Ensley
-
Patent number: 9067325Abstract: A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.Type: GrantFiled: February 29, 2012Date of Patent: June 30, 2015Assignees: GM Global Technology Operations LLC, The United States of America As Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Donald R. Davis, Douglas Martin Linn, Bryan Bergelin, Lyndon B. J. Bridgwater, Heather Bibby, Judy Schroeder, Craig Erkkila
-
Patent number: 8849453Abstract: A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.Type: GrantFiled: February 29, 2012Date of Patent: September 30, 2014Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Bryan J Bergelin, Chris A. Ihrke, Donald R. Davis, Douglas Martin Linn, Lyndon B. J. Bridgwater
-
Publication number: 20130219586Abstract: A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.Type: ApplicationFiled: February 29, 2012Publication date: August 29, 2013Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Chris A. Ihrke, Donald R. Davis, Douglas Martin Linn, Bryan J. Bergelin, Lyndon B.J. Bridgwater, Heather Bibby, Judy Schroeder, Craig Erkkila
-
Publication number: 20130226350Abstract: A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.Type: ApplicationFiled: February 29, 2012Publication date: August 29, 2013Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Bryan J. Bergelin, Chris A. Ihrke, Donald R. Davis, Douglas Martin Linn, Adam M. Sanders, R. Scott Askew, Evan Laske, Kody Ensley
-
Publication number: 20130219585Abstract: A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.Type: ApplicationFiled: February 29, 2012Publication date: August 29, 2013Applicants: The U.S.A. as Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Bryan J. Bergelin, Chris A. Ihrke, Donald R. Davis, Douglas Martin Linn, Lyndon B.J. Bridgwater
-
Patent number: 8511964Abstract: A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.Type: GrantFiled: September 22, 2009Date of Patent: August 20, 2013Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Douglas Martin Linn, Robert O. Ambrose, Myron A. Diftler, Scott R. Askew, Robert Platt, Joshua S. Mehling, Nicolaus A. Radford, Phillip A. Strawser, Lyndon Bridgwater, Charles W. Wampler, II, Muhammad E. Abdallah, Chris A. Ihrke, Matthew J. Reiland, Adam M. Sanders, David M. Reich, Brian Hargrave, Adam H. Parsons, Frank Noble Permenter, Donald R. Davis
-
Patent number: 8443693Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.Type: GrantFiled: July 19, 2012Date of Patent: May 21, 2013Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin
-
Patent number: 8443694Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.Type: GrantFiled: July 19, 2012Date of Patent: May 21, 2013Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin
-
Patent number: 8442684Abstract: A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).Type: GrantFiled: September 22, 2009Date of Patent: May 14, 2013Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space Administration, Oceaneeering Space SystemsInventors: Donald R. Davis, Nicolaus A. Radford, Frank Noble Permenter, Michael C. Valvo, R. Scott Askew
-
Publication number: 20120279343Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.Type: ApplicationFiled: July 19, 2012Publication date: November 8, 2012Applicants: The U.S.A. As Represented by the Admisnistrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin
-
Publication number: 20120279338Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.Type: ApplicationFiled: July 19, 2012Publication date: November 8, 2012Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin
-
Patent number: 8291788Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.Type: GrantFiled: September 22, 2009Date of Patent: October 23, 2012Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin
-
Patent number: 8250901Abstract: A system includes a rotary device, a rotary absolute position (RAP) sensor generating encoded pairs of voltage signals describing positional data of the rotary device, a host machine, and an algorithm. The algorithm calculates calibration parameters usable to determine an absolute position of the rotary device using the encoded pairs, and is adapted for linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters. A method of calibrating the RAP sensor includes measuring the rotary position as encoded pairs of voltage signals, linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters, and calculating an absolute position of the rotary device using the calibration parameters. The calibration parameters include a positive definite matrix (A) and a center point (q) of the ellipse. The voltage signals may include an encoded sine and cosine of a rotary angle of the rotary device.Type: GrantFiled: September 22, 2009Date of Patent: August 28, 2012Assignees: GM Global Technology Operations LLC, Oceaneering International, Inc.Inventors: Donald R. Davis, Frank Noble Permenter, Nicolaus A Radford
-
Patent number: 8067909Abstract: An electromagnetic braking system and method is provided for selectively braking a motor using an electromagnetic brake having an electromagnet, a permanent magnet, a rotor assembly, and a brake pad. The brake assembly applies when the electromagnet is de-energized and releases when the electromagnet is energized. When applied the permanent magnet moves the brake pad into frictional engagement with a housing, and when released the electromagnet cancels the flux of the permanent magnet to allow a leaf spring to move the brake pad away from the housing. A controller has a DC/DC converter for converting a main bus voltage to a lower braking voltage based on certain parameters. The converter utilizes pulse-width modulation (PWM) to regulate the braking voltage. A calibrated gap is defined between the brake pad and permanent magnet when the brake assembly is released, and may be dynamically modified via the controller.Type: GrantFiled: May 29, 2009Date of Patent: November 29, 2011Assignee: GM Global Technology Operations LLCInventors: Donald R. Davis, Nicolaus A Radford, Frank Noble Permenter, Adam H Parsons, Joshua S Mehling
-
Patent number: 8033876Abstract: An electrical connector and method includes a connector and a conforming element proximate to or in contact with the mating end of the connector so as to prevent distortion of a matable end. The matable end of the connector may be of a female or male type and may be of a post, tube, blade, pin, or other configuration. An element made of conforming material, for example, an elastomer, epoxy or rubber type material, is configured and positioned in contact with the matable end of the connector, providing support during assembly to prevent distortion of the matable end. The conforming element may be rectangular, wedge, cylindrical, conical, annular, or of another configuration as required to provide support to the connector pin. The conforming element may be fastened with an adhesive to the matable end to further prevent distortion.Type: GrantFiled: February 17, 2010Date of Patent: October 11, 2011Assignee: GM Global Technology Operations LLCInventors: Donald R. Davis, Nicolaus A Radford, R. Scott Askew
-
Publication number: 20110067517Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.Type: ApplicationFiled: September 22, 2009Publication date: March 24, 2011Applicants: GM GLOBAL TECHNOLOGY OPERATIONS,INC., The U.S.A .As Represented by the Administrator of the National Aeronautics and Space Administration, Oceaneering International, Inc.Inventors: Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin