Patents by Inventor J. Kenneth Salisbury, Jr.

J. Kenneth Salisbury, Jr. 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: 5625576
    Abstract: A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable.
    Type: Grant
    Filed: October 1, 1993
    Date of Patent: April 29, 1997
    Assignee: Massachusetts Institute of Technology
    Inventors: Thomas H. Massie, J. Kenneth Salisbury, Jr.
  • Patent number: 5587937
    Abstract: A connection element such as a thimble connects to a user's body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable.
    Type: Grant
    Filed: April 25, 1995
    Date of Patent: December 24, 1996
    Assignee: Massachusetts Institute of Technology
    Inventors: Thomas H. Massie, J. Kenneth Salisbury, Jr.
  • Patent number: 5327790
    Abstract: A reaction torque actuator has a sensor operatively coupled between a motor housing and an outer housing. A pair of bearings support the motor within the outer housing in a spaced, concentric relationship. The bearings allow a mutual angular displacement of the housing about the axis of rotation of the output shaft of the motor, but they isolate the sensor from the axial and radial moments. A resolver surrounds the shaft at its output end to produce a signal that accurately measures the angular position of the shaft. A controller regulates power to the motor windings as a function of signals from the resolver and the sensor and torque commands. In a preferred form for use in robotics where very accurate force control is desired, the motor: is a brushless D.C. motor, the sensor is of the strain gauge type, and the controller uses high quality amplifiers, sine wave commutation, cable shielding, and filtering to limit the noise generated by electronic switching.
    Type: Grant
    Filed: June 19, 1992
    Date of Patent: July 12, 1994
    Assignee: Massachusetts Institute of Technology
    Inventors: Michael Levin, J. Kenneth Salisbury, Jr.
  • Patent number: 5207114
    Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable.
    Type: Grant
    Filed: April 8, 1991
    Date of Patent: May 4, 1993
    Assignee: Massachusetts Institute of Technology
    Inventors: J. Kenneth Salisbury, Jr., William T. Townsend
  • Patent number: 5046375
    Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conductive to whole arm manipulations where any exterior surface of the links can engage an object. A low inertia, low friction brushless D.C.
    Type: Grant
    Filed: November 17, 1989
    Date of Patent: September 10, 1991
    Assignee: Massachusetts Institute of Technology
    Inventors: J. Kenneth Salisbury, Jr., William T. Townsend, David M. DiPietro, Brian S. Eberman
  • Patent number: 4921293
    Abstract: A robotic hand having a plurality of fingers, each having a plurality of joints pivotally connected one to the other, with actuators connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is the covering of the tip of each finger with a resilient and pliable friction enhancing surface.
    Type: Grant
    Filed: December 12, 1984
    Date of Patent: May 1, 1990
    Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Carl F. Ruoff, J. Kenneth Salisbury, Jr.
  • Patent number: 4903536
    Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable.
    Type: Grant
    Filed: April 21, 1988
    Date of Patent: February 27, 1990
    Assignee: Massachusetts Institute of Technology
    Inventors: J. Kenneth Salisbury, Jr., William T. Townsend, David M. DiPietro, Brian S. Eberman