Abstract: An end effector controller that is gripped by an operator in one hand, including a pistol-grip housing configured to fit in the palm of an operator's hand when gripped and having mounted thereon a plurality of switching mechanisms with pivoting, dual-acting switch triggers each configured for independent actuation by multiple fingers of the hand when said controller is gripped, and a method for controlling a robotic end effector remotely using the operator hand-gripped controller, the method including switching between preset operating modes of the end effector using a single, control input element, easily actuated by a finger in the operator's gripping hand; and providing continuous fine adjustment between preset modes using a second, control input element also easily actuated by a finger on the operator's gripping hand.

Abstract: A mechanism for pretensioning a cable, or like tension element, of a tension-element drive selectively engages the motor drives of the cable for pretensioning. The mechanism uses a sleeve on which a portion of the cable is wound, with another portion of the cable wound in an opposed direction on a drive shaft on the motor. A clutch connects the sleeve to the motor output shaft. An initiator mechanism selectively stops rotation of the sleeve and the cable portion wound on the sleeve while allowing the motor torque to act on the other end of the cable wound on the drive shaft.

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: Featured is a controller for a motor that is ultra-compact, with a power density of at least about 20 watts per cubic cm (W/cm3). The controller utilizes a common ground for power circuitry, which energizes the windings of the motor, and the signal circuitry, which controls this energization responsive to signals from one or more sensors. Also, the ground is held at a stable potential without galvanic isolation. The circuits, their components and connectors are sized and located to minimize their inductance and heat is dissipated by conduction to the controller's exterior such as by a thermally conductive and electrically insulating material (e.g., potable epoxy). The controller uses a single current sensor for plural windings and preferably a single heat sensor within the controller. The body of the controller can also function as the sole plug connector.

Abstract: Featured is a controller for a motor that is ultra-compact, with a power density of at least about 20 watts per cubic cm (W/cm3). The controller utilizes a common ground for power circuitry, which energizes the windings of the motor, and the signal circuitry, which controls this energization responsive to signals from one or more sensors. Also, the ground is held at a stable potential without galvanic isolation. The circuits, their components and connectors are sized and located to minimize their inductance and heat is dissipated by conduction to the controller's exterior such as by a thermally conductive and electrically insulating material (e.g., potable epoxy). The controller uses a single current sensor for plural windings and preferably a single heat sensor within the controller. The body of the controller can also function as the sole plug connector.

Abstract: Featured is a controller for a motor that is ultra-compact, with a power density of at least about 20 watts per cubic cm (W/cm3). The controller utilizes a common ground for power circuitry, which energizes the windings of the motor, and the signal circuitry, which controls this energization responsive to signals from one or more sensors. Also, the ground is held at a stable potential without galvanic isolation. The circuits, their components and connectors are sized and located to minimize their inductance and heat is dissipated by conduction to the controller's exterior such as by a thermally conductive and electrically insulating material (e.g., potable epoxy). The controller uses a single current sensor for plural windings and preferably a single heat sensor within the controller. The body of the controller can also function as the sole plug connector.

Abstract: Featured is a controller for a motor that is ultra-compact, with a power density of at least about 20 watts per cubic cm (W/cm3). The controller utilizes a common ground for power circuitry, which energizes the windings of the motor, and the signal circuitry, which controls this energization responsive to signals from one or more sensors. Also, the ground is held at a stable potential without galvanic isolation. The circuits, their components and connectors are sized and located to minimize their inductance and heat is dissipated by conduction to the controller's exterior such as by a thermally conductive and electrically insulating material (e.g., potable epoxy). The controller uses a single current sensor for plural windings and preferably a single heat sensor within the controller. The body of the controller can also function as the sole plug connector.

Abstract: Featured is a controller for a motor that is ultra-compact, with a power density of at least about 20 watts per cubic cm (W/cm3). The controller utilizes a common ground for power circuitry, which energizes the windings of the motor, and the signal circuitry, which controls this energization responsive to signals from one or more sensors. Also, the ground is held at a stable potential without galvanic isolation. The circuits, their components and connectors are sized and located to minimize their inductance and heat is dissipated by conduction to the controller's exterior such as by a thermally conductive and electrically insulating material (e.g., potable epoxy). The controller uses a single current sensor for plural windings and preferably a single heat sensor within the controller. The body of the controller can also function as the sole plug connector.

Abstract: A mechanism for pretensioning a cable, or like tension element, of a tension-element drive selectively engages the motor drives of the cable for pretensioning. The mechanism uses a sleeve on which a portion of the cable is wound, with another portion of the cable wound in an opposed direction on a drive shaft on the motor. A clutch connects the sleeve to the motor output shaft. An initiator mechanism selectively stops rotation of the sleeve and the cable portion wound on the sleeve while allowing the motor torque to act on the other end of the cable wound on the drive shaft.

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.

Abstract: A pretensioning mechanism for tension element drives includes a drive pinion including a pinion shaft and a pinion sleeve; a first tension element end anchor on the pinion shaft for securing one end of a tension element wound around the drive pinion in a first direction and a second tension element end anchor on the pinion sleeve for securing the end of another tension element wound around the drive pinion in a second, opposite direction; and a worm drive including a worm gear on one of the pinion sleeve and pinion shaft and a worm on the other of the pinion sleeve and pinion shaft for relatively counter-rotating said pinion shaft and pinion sleeve for simultaneously in a single action adjusting and fixing the pretension on the tension element.