Patents by Inventor Douglas Martin Linn
Douglas Martin Linn 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).
-
Publication number: 20130096719Abstract: A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.Type: ApplicationFiled: October 13, 2011Publication date: April 18, 2013Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Adam M. Sanders, Matthew J. Reiland, Douglas Martin Linn, Nathaniel Quillin
-
Patent number: 8276958Abstract: A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.Type: GrantFiled: November 12, 2008Date of Patent: October 2, 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, Douglas Martin Linn, Lyndon Bridgwater
-
Patent number: 8260460Abstract: A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.Type: GrantFiled: September 22, 2009Date of Patent: September 4, 2012Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Adam M. Sanders, Matthew J. Reiland, Muhammad E. Abdallah, Douglas Martin Linn, Robert Platt
-
Patent number: 8255079Abstract: A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.Type: GrantFiled: September 22, 2009Date of Patent: August 28, 2012Assignees: 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, Chris A. Ihrke, Myron A. Diftler
-
Patent number: 8244402Abstract: A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.Type: GrantFiled: September 22, 2009Date of Patent: August 14, 2012Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: James W. Wells, Neil David Mc Kay, Suhas E. Chelian, Douglas Martin Linn, Charles W. Wampler, II, Lyndon Bridgwater
-
Patent number: 8056423Abstract: A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.Type: GrantFiled: November 12, 2008Date of Patent: November 15, 2011Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Muhammad E. Abdallah, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Charles W. Wampler, II, Robert Platt
-
Publication number: 20110089708Abstract: A mechanical gripper adapted for grasping a plurality of differing objects, and comprising a plurality of fingers, wherein each finger includes at least one variable impedance member comprising an active material element, the element, when activated and deactivated, undergoes a reversible change in impedance, and the change in impedance enables the gripper to be advantageously reconfigured, and/or locked in a reconfigured state.Type: ApplicationFiled: October 17, 2009Publication date: April 21, 2011Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Nilesh D. Mankame, Douglas Martin Linn, James W. Wells, Alan L. Browne, Nancy L. Johnson
-
Publication number: 20110067521Abstract: 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: 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: Douglas Martin Linn, Robert O. Ambrose, Myron A. Diftler, Scott R. Askew, Robert Platt, Joshua S. Mehling, Nicolaus A. Radford, Philip 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
-
Publication number: 20110068595Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.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 Administraion, Oceaneering International, Inc.Inventors: Chris A. Ihrke, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Robert Platt, Brian Hargrave, Scott R. Askew, Michael C. Valvo
-
Publication number: 20110071670Abstract: A mechanical implement adapted for use in an autonomously functioning device, such as a robot arm, and including an active material, such as shape memory polymer, element that when activated and/or deactivated is operable to modify the mechanical impedance of a joint or link in the device.Type: ApplicationFiled: September 21, 2009Publication date: March 24, 2011Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Nilesh D. Mankame, Douglas Martin Linn, James W. Wells, Alan L. Browne, Nancy L. Johnson
-
Publication number: 20110071678Abstract: A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.Type: ApplicationFiled: September 22, 2009Publication date: March 24, 2011Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., The U.S.A. As Rpresented by the Administrator of the National Aeronautics and Space Administration, Oceaneering International, Inc.Inventors: Chris A. Ihrke, David M. Reich, Lyndon Bridgwater, Douglas Martin Linn, Scott R. Askew`, Myron A. Diftler, Robert Platt, Brian Hargrave, Michael C. Valvo, Muhammad E. Abdallah, Frank Noble Permenter, Joshua S. Mehling
-
Publication number: 20110071675Abstract: A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.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, HRL Laboratories, LLCInventors: James W. Wells, Neil David Mc Kay, Suhas E. Chelian, Douglas Martin Linn, Charles W. Wampler, II, Lyndon Bridgwater
-
Publication number: 20110071676Abstract: A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.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 AdministrationInventors: Adam M. Sanders, Matthew J. Reiland, Muhammad E. Abdallah, Douglas Martin Linn, Robert Platt
-
Publication number: 20110071664Abstract: A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.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 AdministrationInventors: Douglas Martin Linn, Chris A. Ihrke, Myron A. Diftler
-
Patent number: 7784363Abstract: A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.Type: GrantFiled: September 30, 2008Date of Patent: August 31, 2010Assignees: GM Global Technology Operations, Inc., The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Myron A. Diftler, Douglas Martin Linn, Robert Platt, Bryan Kristian Griffith
-
Publication number: 20100116079Abstract: A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.Type: ApplicationFiled: November 12, 2008Publication date: May 13, 2010Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., The USA as represented by the Administrator of the National Aeronautics & Space AdministrationInventors: CHRIS A. IHRKE, DOUGLAS MARTIN LINN, LYNDON BRIDGWATER
-
Publication number: 20100121222Abstract: A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.Type: ApplicationFiled: November 12, 2008Publication date: May 13, 2010Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., THE U.S.A. AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATIONInventors: MUHAMMAD E. ABDALLAH, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Charles W. Wampler, II, Robert Platt
-
Publication number: 20100077867Abstract: A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.Type: ApplicationFiled: September 30, 2008Publication date: April 1, 2010Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., THE UNITED STATES OF AMERICAInventors: Chris A. Ihrke, Myron A. Diftler, Douglas Martin Linn, Robert Platt, Bryan Kristian Griffith
-
Patent number: 6941189Abstract: A positioner for use in a tooling apparatus, the positioner including a tool, at least one servo-motor for actuating said tool, a controller for controlling the servo-motor, nonvolatile memory in the controller, and a calibration stored in the nonvolatile memory, the calibration including compensation parameters for the build variance of the positioner.Type: GrantFiled: December 15, 2000Date of Patent: September 6, 2005Assignee: General Motors CorporationInventors: Douglas Martin Linn, Gerald Charles Rieck, Charles Weldon Wampler, II, Kevin U. Carriere
-
Patent number: D628609Type: GrantFiled: April 6, 2010Date of Patent: December 7, 2010Assignees: GM Global Technology Operations, Inc., NASA Lyndon B. Johnson Space Center, Oceaneering Space SystemsInventors: Douglas Martin Linn, Chris A. Ihrke, Robert O. Ambrose, Joshua S Mehling, Myron A Diftler, Adam H Parsons, Nicolaus A Radford, Lyndon Bridgwater, Heather Bibby