Patents by Inventor Myron A. Diftler
Myron A. Diftler 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).
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Patent number: 9067319Abstract: A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.Type: GrantFiled: August 11, 2011Date 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 Administrator, Oceaneering Space SystemsInventors: Jianying Shi, Brian Hargrave, Myron A Diftler
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Patent number: 8919842Abstract: A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an arcuate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.Type: GrantFiled: February 7, 2014Date of Patent: December 30, 2014Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Myron A. Diftler, Lyndon Bridgwater, Vienny Nguyen, Alexander Millerman
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Patent number: 8857874Abstract: 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: GrantFiled: March 14, 2013Date of Patent: October 14, 2014Assignee: GM Global Technology Operations LLCInventors: Chris A. Ihrke, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Robert J. Platt, Jr., Brian Hargrave, Scott R. Askew, Michael C. Valvo
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Publication number: 20140217762Abstract: A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an arcuate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.Type: ApplicationFiled: February 7, 2014Publication date: August 7, 2014Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Chris A. Ihrke, Myron A. Diftler, Lyndon Bridgwater, Vienny Nguyen, Alexander Millerman
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Patent number: 8618762Abstract: A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.Type: GrantFiled: January 27, 2011Date of Patent: December 31, 2013Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Matthew J. Reiland, Myron A. Diftler
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Patent number: 8565918Abstract: A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.Type: GrantFiled: March 10, 2010Date of Patent: October 22, 2013Assignees: 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, Chris A. Ihrke, Matthew J. Reiland, Charles W. Wampler, II, Myron A. Diftler, Robert Platt, Lyndon Bridgwater
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Patent number: 8562049Abstract: 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: GrantFiled: September 22, 2009Date of Patent: October 22, 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, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Robert Platt, Brian Hargrave, Scott R. Askew, Michael C. Valvo
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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
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Patent number: 8498741Abstract: A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.Type: GrantFiled: September 22, 2009Date of Patent: July 30, 2013Assignees: GM Global Technology Operations, The United States of America as Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Lyndon Bridgwater, David M. Reich, Charles W. Wampler, II, Scott R. Askew, Myron A. Diftler, Vienny Nguyen
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Patent number: 8489239Abstract: A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.Type: GrantFiled: November 1, 2010Date of Patent: July 16, 2013Assignees: 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, Robert J. Platt, Jr., Matthew J Reiland, Brian Hargrave, Myron A Diftler, Philip A Strawser, Chris A. Ihrke
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Patent number: 8467903Abstract: 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: GrantFiled: September 22, 2009Date of Patent: June 18, 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, 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
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Patent number: 8401700Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.Type: GrantFiled: September 22, 2009Date of Patent: March 19, 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, Lyndon Bridgwater, Myron A. Diftler, David M. Reich, Scott R. Askew
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Publication number: 20130041502Abstract: A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.Type: ApplicationFiled: August 11, 2011Publication date: February 14, 2013Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Jianying Shi, Brian Hargrave, Myron A. Diftler
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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
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Publication number: 20120194120Abstract: A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.Type: ApplicationFiled: January 27, 2011Publication date: August 2, 2012Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Matthew J. Reiland, Myron A. Diftler
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Publication number: 20120109379Abstract: A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.Type: ApplicationFiled: November 1, 2010Publication date: May 3, 2012Applicants: The U.S.A. As Represented by the Administrator of The National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Muhammad E. Abdallah, Robert J. Platt, JR., Matthew J. Reiland, Brian Hargrave, Myron A. Diftler, Philip A. Strawser, Chris A. Ihrke
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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
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Publication number: 20110071673Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.Type: ApplicationFiled: September 22, 2009Publication date: March 24, 2011Applicants: GM GLOBAL TECHNOLOGYOPERATIONS, INC., The U.S.A As Represented by the Administrotor of the National Aeronautics and Space Administration, Oceaneering International, Inc.Inventors: Chris A. Ihrke, Lyndon Bridgwater, Myron A. Diftler, David M. Reich, Scott R. Askew
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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
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Publication number: 20110071671Abstract: A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.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, Oeaneering International, Inc.Inventors: Chris A. Ihrke, Lyndon Bridgwater, David M. Reich, Charles W. Wampler, II, Scott R. Askew, Myron A. Diftler, Vienny Nguyen