Patents by Inventor William T. Townsend
William T. Townsend 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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Publication number: 20230404838Abstract: A system for facilitating delivery of physical therapy to a patient, the system comprising: a robot-assisted therapy device configured for engagement with a limb of the patient; a camera configured to obtain image data of the patient performing the physical therapy; and an AI-based movement detection system, wherein the AI-based movement detection system is configured to receive image data of the patient from the camera, analyze the image data of the patient and determine at least one from the group consisting of (i) identity of the patient, (ii) movement of the patient, and (iii) posture of the patient.Type: ApplicationFiled: September 1, 2023Publication date: December 21, 2023Inventors: William T. Townsend, Alexandros Lioulemes, Claude F. Valle, Craig G. McDonald
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Publication number: 20220399842Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and iC; a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currentsType: ApplicationFiled: March 29, 2022Publication date: December 15, 2022Inventors: Claude F. Valle, IV, Amy A. Blank, Brian Zenowich, Thomas Nadovich, Donald E. Drumm, Christopher Woodall, William T. Townsend
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Patent number: 11290043Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and iC a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currentsType: GrantFiled: November 8, 2019Date of Patent: March 29, 2022Assignee: Barrett Technology, LLCInventors: Claude F. Valle, IV, Amy A. Blank, Brian Zenowich, Thomas Nadovich, Donald E. Drumm, Christopher Woodall, William T. Townsend
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Patent number: 10925797Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.Type: GrantFiled: November 20, 2018Date of Patent: February 23, 2021Assignee: Barrett Technology, LLCInventors: William T. Townsend, David Wilkinson, Alexander Jenko, Julian Leland, Arvind Ananthanarayanan, James Patton
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Publication number: 20200298402Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device comprising: a base; and a robotic arm attached to the base and having an end-point, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.Type: ApplicationFiled: September 30, 2016Publication date: September 24, 2020Inventors: William T. Townsend, David Wilkinson, Alexander Jenko, Julian Leland, Arvind Ananthanarayanan, James Patton, Claude Valle, Michael Morin, Donald Drumm, Amy Blank, Brian Zenowich, Michael Schiess
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Publication number: 20200179212Abstract: A robotic device for operation in association with a body of a user, wherein the body of the user comprises a torso and a limb, the robotic device comprising: a base; an arm having a first end and a second end, the first end of the arm being mounted to the base; an endpoint device having a first end and a second end, the first end of the endpoint device being mounted to the second end of the arm; and a grip configured to be gripped by a limb of a user, wherein the grip is mounted to the second end of the endpoint device, and further wherein the grip is adjustable relative to the endpoint device along a pitch axis, a yaw axis and a roll axis.Type: ApplicationFiled: January 31, 2020Publication date: June 11, 2020Inventors: David D. Wilkinson, Alvin Yen, Claude F. Valle, IV, Michael Schiess, William T. Townsend
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Publication number: 20200153372Abstract: A motor controller for controlling the operation of a three-phase permanent magnet synchronous electric motor, wherein the three-phase permanent magnet synchronous electric motor is characterized by three phases A, B, C, and further wherein the three-phase permanent magnet synchronous electric motor is driven by regulating three phase currents iA, iB and iC for the three phases A, B, C, respectively, the motor controller comprising: a three-phase power supply for supplying the three phase currents iA, iB and IC a first sensor for sensing the phase current iA; a second sensor for sensing across the phase currents iB and iC; and a microcontroller for controlling the operation of the three-phase power supply so as to produce the three phase currents iA, iB and iC needed to operate the three-phase permanent magnet synchronous electric motor, wherein the microcontroller reads the outputs of the first sensor and the second sensor and adjusts operation of the three-phase power supply so as to produce phase currentsType: ApplicationFiled: November 8, 2019Publication date: May 14, 2020Inventors: Claude F. Valle, IV, Amy A. Blank, Brian Zenowich, Thomas Nadovich, Donald E. Drumm, Christopher Woodall, William T. Townsend
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Publication number: 20190282425Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device comprising: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.Type: ApplicationFiled: November 20, 2018Publication date: September 19, 2019Inventors: William T. Townsend, David Wilkinson, Alexander Jenko, Julian Leland, Arvind Ananthanarayanan, James Patton
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Patent number: 10130546Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.Type: GrantFiled: September 29, 2014Date of Patent: November 20, 2018Assignee: Barrett Technology, LLCInventors: William T. Townsend, David Wilkinson, Alexander Jenko, Julian Leland, Arvind Ananthanarayanan, James Patton
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Publication number: 20160367428Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.Type: ApplicationFiled: September 29, 2014Publication date: December 22, 2016Inventors: William T. Townsend, David Wilkinson, Alexander Jenko, Julian Leland, Arvind Ananthanarayanan, James Patton
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Patent number: 9020644Abstract: 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.Type: GrantFiled: August 11, 2011Date of Patent: April 28, 2015Assignee: Barrett Technology, Inc.Inventors: Daniel Greeley, Daniel Fourie, Bryce Lee, Yevgeniy Kozlenko, David Wilkinson, William T. Townsend
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Publication number: 20150050111Abstract: A mobile manipulation system comprising: a base; at least one mobility component mounted to said base for rendering said base mobile; a platform; at least one robotic manipulator arm mounted to said platform; and an elevator mechanism movably supporting said platform on said base.Type: ApplicationFiled: August 18, 2014Publication date: February 19, 2015Inventor: William T. Townsend
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Patent number: 8858374Abstract: 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.Type: GrantFiled: December 23, 2004Date of Patent: October 14, 2014Assignee: Barrett Technology, Inc.Inventor: William T. Townsend
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Publication number: 20120041595Abstract: A pistol-grip controller for the control of a robotic or virtual hand has multiple dual-action switching mechanisms positioned to simulate intuitively the motion of grasping and releasing an object. An externally-projecting switch trigger of each switching mechanism is hook-shaped to facilitate the operator donning and doffing the controller. These switches move in response to gripping and releasing movements of the associated fingers so as to close or open peripherals (fingers) of the end effector hand. A rocker switch allows an operator to toggle conveniently between commonly used modes of a virtual or robot hand, or the like. The mode toggling is complemented by a control to adjust between the commonly used modes of operation. To make the manipulation of the end effector more intuitive, the controller remaps the switching mechanisms to different functionalities on the end effector based on the mode of operation. The transition between switch to end effector mappings is hysteretic.Type: ApplicationFiled: August 11, 2011Publication date: February 16, 2012Inventors: Daniel Greeley, Daniel Fourie, Bryce Lee, Yevgeniy Kozlenko, David Wilkinson, William T. Townsend
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Publication number: 20120041599Abstract: This invention enables the affordability of an elaborate, high-performance teleoperator master controller while encouraging continual operator training by supporting a teleoperator system in which one centralized master controller controls multiple field slaves sequentially.Type: ApplicationFiled: August 11, 2011Publication date: February 16, 2012Inventors: William T. Townsend, David Wilkinson, Brian Zenowich
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Patent number: 8052857Abstract: 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.Type: GrantFiled: August 31, 2006Date of Patent: November 8, 2011Assignee: Barrett Technology, Inc.Inventor: William T. Townsend
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Patent number: 7893644Abstract: 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.Type: GrantFiled: March 30, 2009Date of Patent: February 22, 2011Assignee: Barrett Technology, Inc.Inventors: William T. Townsend, Adam Crowell, Gill Pratt, Traveler Hauptman
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Publication number: 20090295317Abstract: 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.Type: ApplicationFiled: March 30, 2009Publication date: December 3, 2009Applicant: Barrett Technology, Inc.Inventors: William T. Townsend, Adam Crowell, Gill Pratt, Traveler Hauptman
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Publication number: 20090289584Abstract: 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.Type: ApplicationFiled: March 30, 2009Publication date: November 26, 2009Applicant: Barrett Technology, Inc.Inventors: William T. Townsend, Adam Crowell, Gill Pratt, Traveler Hauptman
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Patent number: 7511443Abstract: 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.Type: GrantFiled: September 30, 2005Date of Patent: March 31, 2009Assignee: Barrett Technology, Inc.Inventors: William T. Townsend, Adam Crowell, Gill Pratt, Traveler Hauptman