Patents by Inventor Curt Salisbury

Curt Salisbury 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: 20210251145
    Abstract: An example harvesting device includes: a conduit having a distal end and a proximal end; a nozzle coupled to the distal end of the conduit, wherein a vacuum generating device is configured to generate a vacuum environment in the conduit and the nozzle coupled thereto; a housing coupled to the proximal end of the conduit, wherein the housing defines a chamber therein, and wherein the housing includes a divider that partitions a portion of the chamber into a first section and a second section; and a wedge rotatably mounted within the housing, wherein: (i) when the wedge is in a first position, fruit that has traversed through the conduit is deflected to the first section, and (ii) when the wedge is in a second position, fruit that has traversed through the conduit is deflected to the second section.
    Type: Application
    Filed: August 20, 2019
    Publication date: August 19, 2021
    Inventors: Stephen Nuske, Curt Salisbury
  • Publication number: 20210120739
    Abstract: A robotic system (100) for harvesting fruit (12) includes an end effector (102) with a conduit extending between an input port and an output port. A vacuum system (108) coupled to the end effector (102) provides suction to suck an object into the input port. A collection system (110) includes multiple channels that extend along a vertical axis and are positioned in series along a horizontal axis. A positioning system (104) moves the end effector (102) along the horizontal and/or vertical axes and extends the end effector (102) away from the collection system (110) to position the input port near an object (e.g., fruit). Responsive to the object being sucked into the conduit, the positioning system (104) moves the end effector (102) to position the output port at a selected channel of the multiple channels to allow the object to be dispensed into the selected channel The selected channel is closest to the end effector (102) along the horizontal axis.
    Type: Application
    Filed: August 29, 2019
    Publication date: April 29, 2021
    Inventors: Curt Salisbury, Michael Stevens
  • Patent number: 10876608
    Abstract: An apparatus includes a first ring having an open annular space and a variable-width groove disposed on an interior peripheral surface of the first ring; a second ring rotatable within the open annular space of the first ring, where the second ring has a respective variable-width groove disposed on an exterior peripheral surface of the second ring; and a plurality of rollers disposed between, and configured to roll on, the interior peripheral surface of the first ring and the exterior peripheral surface of the second ring and rotatable therebetween.
    Type: Grant
    Filed: April 23, 2020
    Date of Patent: December 29, 2020
    Assignee: SRI International
    Inventors: Alexander Steele Kernbaum, Curt Salisbury
  • Publication number: 20200378480
    Abstract: An apparatus includes a first ring having an open annular space and a variable-width groove disposed on an interior peripheral surface of the first ring; a second ring rotatable within the open annular space of the first ring, where the second ring has a respective variable-width groove disposed on an exterior peripheral surface of the second ring; and a plurality of rollers disposed between, and configured to roll on, the interior peripheral surface of the first ring and the exterior peripheral surface of the second ring and rotatable therebetween.
    Type: Application
    Filed: April 23, 2020
    Publication date: December 3, 2020
    Inventors: Alexander Steele KERNBAUM, Curt SALISBURY
  • Publication number: 20200196528
    Abstract: An example system includes a nozzle having an inlet: an outlet mechanism disposed longitudinally adjacent to the nozzle; a conduit longitudinally adjacent to the outlet mechanism where the conduit includes a distal chamber, a middle chamber, and a proximal chamber, that; are longitudinally disposed along a length of the conduit; a partition block configured to move between (i) a first position at which the partition block: is disposed laterally adjacent to the middle chamber, such that the partition block is offset from a longitudinal axis of the conduit, and (ii) a second position at which the partition block resides in the middle chamber between the distal chamber and the proximal chamber; and a deceleration structure disposed at a proximal, end of the conduit and bounding the proximal chamber, where the deceleration structure is configured to decelerate fruit feat has traversed the conduit.
    Type: Application
    Filed: September 5, 2018
    Publication date: June 25, 2020
    Inventors: Curt Salisbury, Daniel C. Steere, Michael Eriksen, Cedric Schwab
  • Patent number: 10670119
    Abstract: An apparatus includes a first ring having an open annular space and a variable-width groove disposed on an interior peripheral surface of the first ring; a second ring rotatable within the open annular space of the first ring, where the second ring has a respective variable-width groove disposed on an exterior peripheral surface of the second ring; and a plurality of rollers disposed between, and configured to roll on, the interior peripheral surface of the first ring and the exterior peripheral surface of the second ring and rotatable therebetween.
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: June 2, 2020
    Assignee: SRI International
    Inventors: Alexander Steele Kernbaum, Curt Salisbury
  • Patent number: 10537998
    Abstract: A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.
    Type: Grant
    Filed: May 25, 2018
    Date of Patent: January 21, 2020
    Assignee: SRI International
    Inventors: Curt Salisbury, Mike Stevens, Zachery Shivers
  • Patent number: 10415672
    Abstract: An apparatus includes a ring gear having a plurality of gear teeth, where each of the plurality of gear teeth of the planet gear has a partial cycloid profile, and a planet gear rotatable within the ring gear, where the planet gear has a plurality of gear teeth, and each of the plurality of gear teeth of the planet gear has a partial cycloid profile. The total number of gear teeth of the planet gear is smaller than the total number of gear teeth of the ring gear. The gear teeth of the planet gear operatively mesh with corresponding gear teeth of the ring gear. The total number of gear teeth of the planet gear provides each gear tooth of the planet gear with a bending strength and a compressive strength such that the bending strength and the compressive strength differ by less than a predetermined amount.
    Type: Grant
    Filed: April 21, 2016
    Date of Patent: September 17, 2019
    Assignee: SRI International
    Inventor: Curt Salisbury
  • Publication number: 20190242464
    Abstract: An apparatus includes a first ring having an open annular space and a variable-width groove disposed on an interior peripheral surface of the first ring; a second ring rotatable within the open annular space of the first ring, where the second ring has a respective variable-width groove disposed on an exterior peripheral surface of the second ring; and a plurality of rollers disposed between, and configured to roll on, the interior peripheral surface of the first ring and the exterior peripheral surface of the second ring and rotatable therebetween.
    Type: Application
    Filed: June 24, 2016
    Publication date: August 8, 2019
    Inventors: Alexander Steele KERNBAUM, Curt SALISBURY
  • Publication number: 20180272541
    Abstract: A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.
    Type: Application
    Filed: May 25, 2018
    Publication date: September 27, 2018
    Applicant: SRI INTERNATIONAL
    Inventors: Curt Salisbury, Mike Stevens, Zachery Shivers
  • Publication number: 20180156314
    Abstract: An apparatus includes a ring gear having a plurality of gear teeth, where each of the plurality of gear teeth of the planet gear has a partial cycloid profile, and a planet gear rotatable within the ring gear, where the planet gear has a plurality of gear teeth, and each of the plurality of gear teeth of the planet gear has a partial cycloid profile. The total number of gear teeth of the planet gear is smaller than the total number of gear teeth of the ring gear. The gear teeth of the planet gear operatively mesh with corresponding gear teeth of the ring gear. The total number of gear teeth of the planet gear provides each gear tooth of the planet gear with a bending strength and a compressive strength such that the bending strength and the compressive strength differ by less than a predetermined amount.
    Type: Application
    Filed: April 21, 2016
    Publication date: June 7, 2018
    Inventor: Curt SALISBURY
  • Publication number: 20170273241
    Abstract: A fruit harvesting system includes a vacuum generating subsystem and an end effector connected to the vacuum generating subsystem. The end effector has a first tube having a first diameter, and a second tube having a second diameter smaller than the first diameter so the second tube fits inside the first tube. A fruit harvesting system includes a vacuum generating subsystem, a tube connected to the vacuum generating subsystem and at least one structure coupled to an inside of the tube. A fruit harvesting system includes a vacuum generating subsystem, a first tube connected to the vacuum generating subsystem, and a second tube coupled to the first tube, the second tube having a tubular portion coupled to the first tube in an orientation other than parallel, the second tube having openings on opposite sides of the first tube.
    Type: Application
    Filed: December 2, 2015
    Publication date: September 28, 2017
    Inventors: CURT SALISBURY, JACOB SUCHOSKI, RICH MAHONEY
  • Patent number: 8924009
    Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
    Type: Grant
    Filed: March 11, 2010
    Date of Patent: December 30, 2014
    Assignees: The Board of Trustees of the Leland Stanford Junior University, Sandia Corporation
    Inventors: Curt Salisbury, J. Kenneth Salisbury, Jr.
  • Publication number: 20110010024
    Abstract: A system and method for accompanying a pedestrian user with an automated, remote vehicle that includes a vehicle control system including a propulsion subsystem that promotes motion of the vehicle and a steering subsystem that controls the direction of motion of the vehicle, a joint goniometer input device wearable by the user that measures an anatomical motion of the user, a communication system that communicates the input of the joint goniometer to the steering subsystem, and a pacing system that outputs a propulsion input that is dependent on the user.
    Type: Application
    Filed: June 30, 2010
    Publication date: January 13, 2011
    Inventor: Curt Salisbury
  • Publication number: 20100256815
    Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
    Type: Application
    Filed: March 11, 2010
    Publication date: October 7, 2010
    Inventors: Curt Salisbury, J. Kenneth Salisbury, JR.