With Program Recording Or Composing Means Patents (Class 318/568.1)
  • Patent number: 10974393
    Abstract: An automation apparatus includes a mechanism having a machine coordinate system and configured to work on a work which moves in the machine coordinate system, a sensor configured to successively detect positions of the work as the work moves, and a processor. The processor is configured to calculate a plurality of machine coordinate positions of the work in the machine coordinate system successively based on the positions successively detected by the sensor, and is configured to determine, based on the plurality of machine coordinate positions of the work, a working position at which the mechanism is configured to work on the work.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: April 13, 2021
    Inventors: Yasufumi Yoshiura, Hiroshi Anno
  • Patent number: 10969791
    Abstract: Provided is a robot, including: a plurality of sensors; a processor; a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations including: capturing, with an image sensor, images of a workspace as the robot moves within the workspace; identifying, with the processor, at least one characteristic of at least one object captured in the images of the workspace; determining, with the processor, an object type of the at least one object based on characteristics of different types of objects stored in an object dictionary; and instructing, with the processor, the robot to execute at least one action based on the object type of the at least one object.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: April 6, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Patent number: 10967515
    Abstract: An apparatus for remotely controlling field robots, includes: an interface unit; a work command generator generating a work command signal for operating field robots; an autonomous command generator which generates an autonomous operation command signal for controlling an operation of a second field robot when a user selects a following mode and the work command generator generates a work command signal for a first field robot to correspond to the following mode, or generates an autonomous operation command signal for controlling operations of the first field robot and the second field robot in order to operate an object of work when the user selects an object mode and the work command generator generates a work command signal for the object of work to correspond to the object mode; and a communication unit transmitting the generated autonomous operation command signal to the first field robot and the second field robots.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: April 6, 2021
    Inventors: Seung Yeol Lee, Dae Jin Kim, Sung Hoon Eom, Jeon Il Moon
  • Patent number: 10960536
    Abstract: A robot arm supporting a workpiece, a support mechanism in a form of a coordinate measuring machine supporting a detector head, and a fixation portion in a form of a contact block fixing the detector head to the workpiece are used to bring the contact block fixed to a table and the workpiece into contact to each other. The detector head measures the workpiece while a relative position of the detector head and the workpiece is fixed.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: March 30, 2021
    Inventors: Masahiro Ishikawa, Yoshitaka Kayaba, Go Fukino, Hirotaka Muramatsu
  • Patent number: 10964152
    Abstract: A mobile service providing apparatus includes a moving unit, a specifying unit, and a recovery unit. The moving unit moves the mobile service providing apparatus. The specifying unit specifies a user to whom an article is provided. If a preset time elapses from a time when the article is provided to the user, the recovery unit recovers a portion of the provided article from the user by moving, by the moving unit, to a place where the user specified by the specifying unit is present.
    Type: Grant
    Filed: November 1, 2017
    Date of Patent: March 30, 2021
    Assignee: FUJI XEROX CO., LTD.
    Inventor: Xiongfan Jin
  • Patent number: 10955238
    Abstract: An apparatus and associated method for a frame that is configured to rotate a workpiece around an axis of rotation. The apparatus has a measurement device, and a known fixture that is supported by the frame. A processor is configured to execute stored computer instructions to initially-calibrate the measurement device to the axis of rotation, to employ the initially-calibrated measurement device to obtain an initial-calibration value of the known fixture, to store the initial-calibration value in a digital memory, to subsequently use the initially-calibrated measuring device to obtain an in-process automatic recalibration (IPAR) value of the known fixture, and to compare the IPAR value to the initial-calibration value to calculate a compensation value indicating positional error of the apparatus.
    Type: Grant
    Filed: March 17, 2014
    Date of Patent: March 23, 2021
    Assignee: Kerr Machine Co.
    Inventors: Joshua Philip Jones, Mark Stephen Nowell, Kelcy Jake Foster
  • Patent number: 10954081
    Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.
    Type: Grant
    Filed: June 30, 2020
    Date of Patent: March 23, 2021
    Assignee: Dexterity, Inc.
    Inventors: Zhouwen Sun, Kevin Jose Chavez, Samir Menon, Harry Zhe Su, Talbot Morris-Downing, Rohit Arka Pidaparthi, Ayush Sharma, Raphael Georg Wirth
  • Patent number: 10945484
    Abstract: Haptic output devices may provide haptic output to a user. The haptic output devices may include foot-shaped structures with cavities configured to receive the feet of users. The haptic output devices may also include foot platforms with planar exterior surfaces on which a user may stand. In hybrid arrangements, haptic output devices include foot-shaped support structures with components such as magnets and a foot platform components with corresponding electromagnets. Haptic output components such as piezoelectric components, electroactive polymer components, electromagnetic actuators, and other haptic output components may be mounted to haptic output device support structures in arrays. Shear forces and forces normal to the inner surfaces of a foot-shaped support surface and/or the exterior surface of a foot platform may be generated. Haptic output may be generated based on sensor signals such as sensor signals associated with foot movement.
    Type: Grant
    Filed: April 25, 2018
    Date of Patent: March 16, 2021
    Assignee: Apple Inc.
    Inventor: Paul X. Wang
  • Patent number: 10941854
    Abstract: An operating device includes a shaft operated to tilt, a contact section on the shaft in a biased state movable and tiltable integrally with the shaft, a first holding section generating a feeling of moderation by sliding against and holding the contact section at tilted positions the shaft, and a second holding section contacting the contact section, guiding the contact section to a predetermined position from the tilted positions, and holding the contact section at the predetermined position. The first holding section is movable between first and second positions. The contact section contacts the first holding section and is separated from the second holding section when the first holding section is at the first position. The contact section is separated from the first holding section and contacts the second holding section when the first holding section is at the second position.
    Type: Grant
    Filed: February 6, 2020
    Date of Patent: March 9, 2021
    Assignee: ALPS ALPINE CO., LTD.
    Inventor: Yu Takeda
  • Patent number: 10919160
    Abstract: An electrodynamic apparatus includes a first arm extending in a first direction, a second arm supported by the first arm, a linear actuator that moves the second arm along the first direction with respect to the first arm, a support extending in a second direction that is different from the first direction and supporting the first arm, and a rotating mechanism that rotates the support about an axis of rotation parallel to the second direction. The first arm includes a power transmission antenna. The second arm includes a power reception antenna. The power transmission antenna supplies electric power to the power reception antenna wirelessly. In rotating the support, the linear actuator moves the center of gravity of the second arm to the axis of rotation first, and then the rotating mechanism rotates the support.
    Type: Grant
    Filed: January 4, 2017
    Date of Patent: February 16, 2021
    Assignee: Panasonic Intellectual Property Management Co., Ltd
    Inventors: Tsutomu Sakata, Eiji Takahashi, Hiroshi Kanno, Satoru Kikuchi
  • Patent number: 10919151
    Abstract: Method and apparatus for training a machine learning model for controlling a robotic picking device having a suction device end effector. A robotic control operation and a candidate contact point for holding a first item using a suction device of a robotic picking arm are determined, by processing information describing the first item as an input to a machine learning model. A seal quality metric is estimated for the candidate contact point, based on a predicted deformed n-dimensional shape of the suction device and a n-dimensional shape associated with the first item. One or more weights within the machine learning model are refined based on the estimated seal quality metric.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: February 16, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Andrew D. Marchese, William Clay Flannigan, Parris S. Wellman
  • Patent number: 10894322
    Abstract: A method for motion planning for at least one robot includes providing a start configuration comprising at least one start position and a destination configuration comprising at least one destination position for the robot, providing a motion of at least one obstacle in the workspace of the robot, the obstacle motion defining a position of the obstacle that varies over time, and determining a motion of the robot from its start configuration to its destination configuration. The robot motion definies a position of the robot over a time period from a start time to a destination time. The robot motion is determined such that at each point in time between the start and destination times a distance between the robot and the obstacle does not fall below a predetermined threshold.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: January 19, 2021
    Assignee: KUKA Hungária Korlátolt Felelösségû Társaság
    Inventor: István Komlósi
  • Patent number: 10875189
    Abstract: A method for manipulating a deformable object includes determining respective 3D position of one or more markers on the deformable object held by a robotic manipulator; determining a deformation model of the deformable object by mapping movement of the robotic manipulator and movement of one or more markers; and controlling the robotic manipulator based on the determined deformation model to manipulate the deformable object so as to move the one or more markers into respective target position.
    Type: Grant
    Filed: February 6, 2018
    Date of Patent: December 29, 2020
    Assignee: City University of Hong Kong
    Inventors: Jia Pan, Zhe Hu
  • Patent number: 10852738
    Abstract: A method of navigating a self-propelled robotic tool comprises transmitting a wireless signal (66) along a first signal path between the robotic tool (14) and a first wireless interface of a base station (16) remote from the robotic tool (14); transmitting a wireless signal (66) along a second signal path between the robotic tool (14) and a second wireless interface of the base station (16), said second wireless interface being spatially separated from the first wireless interface by a separation distance; upon receipt, comparing the signal transmitted along the first signal path with the signal transmitted along the second signal path to obtain a propagation time difference between the signal transmitted along the first signal path and the signal transmitted along the second signal path, said propagation time difference defining a path length difference between said first and second signal paths; and calculating, based on the separation distance and the path length difference, a value representative of a bea
    Type: Grant
    Filed: January 4, 2017
    Date of Patent: December 1, 2020
    Assignee: HUSQVARNA AB
    Inventors: Björn Mannefred, Stefan Grufman
  • Patent number: 10836040
    Abstract: The control device 41 includes a desired variable value determining unit (52a) which determines desired values of unknown variables composed of coefficients in respective terms of a polynomial function expressing a desired ZMP trajectory and a landing position correction amount for correcting a desired landing position of a leg from a reference desired landing position. The desired variable value determining unit (52a) uses an evaluation function having the coefficients in the polynomial function and the landing position correction amount as unknown variables, and a plurality of constraint conditions each configured by a linear equality or linear inequality regarding the unknown variables, to determine desired values of the unknown variables, by a solution method for a quadratic programming problem, in such a way as to minimize the value of the evaluation function.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: November 17, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Takumi Kamioka
  • Patent number: 10828787
    Abstract: A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted.
    Type: Grant
    Filed: December 5, 2016
    Date of Patent: November 10, 2020
    Inventor: Masayuki Kamon
  • Patent number: 10824186
    Abstract: A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising: a body for being held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers; a trigger extending transversely to the direction of elongation of the grip portion, the trigger being supported by the body so as to be capable of rotating relative to the body about a rotation axis passing through the grip portion; and a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger.
    Type: Grant
    Filed: September 19, 2017
    Date of Patent: November 3, 2020
    Inventor: Rebecca Anne Cuthbertson
  • Patent number: 10805222
    Abstract: According to some embodiments, system and methods are provided, comprising receiving, from a network configuration module, configuration data at a network driver of a communication network; configuring the network driver based on the received configuration data; receiving one or more data packets at the network driver from an application; determining that one or more segregation features are present in the data packet based on the received configuration data; transmitting the one or more data packets based on the one or more segregation features; and controlling one or more operations of an installed product based on the transmitted one or more data packets. Numerous other aspects are provided.
    Type: Grant
    Filed: May 1, 2017
    Date of Patent: October 13, 2020
    Inventors: Tony Frangieh, Andrew William Berner, Stephen Francis Bush, Vincent Staudinger
  • Patent number: 10800048
    Abstract: A robot includes a robot housing containing a robot control apparatus that controls the robot having a motor, a brake that brakes the motor by short-circuiting between power lines for supplying electric power to the motor, and a conversion element that converts a current generated by braking of the motor by the brake into heat, wherein the conversion element is attached to the robot housing.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: October 13, 2020
    Assignee: Seiko Epson Corporation
    Inventors: Kotaro Sekine, Ryosuke Teranaka
  • Patent number: 10792815
    Abstract: A fixture assembly includes a first rail, a second rail coupled to the first rail, a first mount configured to support a first panel, a column coupled to the second rail, and a second mount movably coupled to the column. The first mount is movably coupled to the first rail to allow the first mount to move along the first rail in a first direction. The fixture assembly further includes a first servomotor coupled to the first mount to allow the first mount to rotate about a first axis. The fixture further includes a second servomotor coupled to the second mount to allow the second mount to rotate about a second axis. The fixture assembly includes a controller programmed to control the first servomotor and the second servomotor.
    Type: Grant
    Filed: April 26, 2019
    Date of Patent: October 6, 2020
    Assignee: GM Global Technology Operations LLC
    Inventors: Kyle T. Makowski, Robert L. Pobocik, Daniel P. Malouhos, Karen E. Bunker
  • Patent number: 10788804
    Abstract: A position correcting system, method and tool for guiding a tool during its use based on its location relative to the material being worked on. Provided is a system and tool which uses its auto correcting technology to precisely rout or cut material. The invention provides a camera which is used to track the visual features of the surface of the material being cut to build a map and locate an image on that map used to reference the location of the tool for auto-correction of the cutting path.
    Type: Grant
    Filed: June 9, 2016
    Date of Patent: September 29, 2020
    Assignee: Shaper Tools, Inc.
    Inventors: Alec Rothmyer Rivers, Ilan Ellison Moyer
  • Patent number: 10786317
    Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
    Type: Grant
    Filed: December 11, 2017
    Date of Patent: September 29, 2020
    Assignee: VERB SURGICAL INC.
    Inventors: Renbin Zhou, Sina Nia Kosari, Dennis Moses
  • Patent number: 10762801
    Abstract: A robot device having modules that can be combined together to produce alternative devices useful for educational purposes. The robot device includes one or more frame bodies and one or more motorized joints connected to the frame bodies and in communication with a central control unit. Each motorized joint includes a fixed portion and a movable portion. Through a combination of frame bodies and motorized joints modules, alternative motorized devices can be generated.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: September 1, 2020
    Assignee: Comau S.p.A.
    Inventors: Francesco Ciniello, Maurizio Cremonini
  • Patent number: 10747393
    Abstract: Provided is an electric arc generation system comprising a robot, an electric arc torch attached to the robot, a power supply configured to provide an electrical power output to the torch, and a user interface for adjusting a plurality of power supply parameters. The user interface comprises a display. The system includes a processor configured to receive respective settings of the plurality of power supply parameters, and configured to analyze the settings of the plurality of power supply parameters and control the display to display a pictograph warning associated with a current parameter setting, based on a result of analyzing the settings of the plurality of power supply parameters. Said pictograph warning graphically indicates an adjustment direction for the current parameter setting. The processor is configured to automatically adjust one or more of the settings of the plurality of power supply parameters based on a predetermined operating angle of the torch.
    Type: Grant
    Filed: August 1, 2017
    Date of Patent: August 18, 2020
    Assignee: LINCOLN GLOBAL, INC.
    Inventors: Matthew A. Albright, Bruce John Chantry, Levi J. Mitchell, Lance F. Guymon, Daniel J. Spieker
  • Patent number: 10732616
    Abstract: A numerical controller that controls a machine based on a program includes a manual program execution instruction unit that gives instructions for advancing and reversing execution of the program in a manual manner, a program manual execution unit that sequentially executes the program, and a block information notification unit that identifies a block in the program the execution of which is about to be started, based on execution status of the program reported from the program manual execution unit, and that makes notification in accordance with an attribute of the identified block.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: August 4, 2020
    Assignee: Fanuc Corporation
    Inventors: Kenji Shimizu, Kazuo Sato, Hideaki Maeda
  • Patent number: 10729506
    Abstract: Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.
    Type: Grant
    Filed: January 29, 2019
    Date of Patent: August 4, 2020
    Inventor: Mahdi Azizian
  • Patent number: 10725457
    Abstract: A machining time prediction system divides a machining program to be executed by a machine tool into a plurality of sections, transfers the divided machining programs to arithmetic unit to calculate machining times and integrates the calculated machining times. Thus, when hardware resources of an arithmetic processing apparatus for calculating a machining time are lacking, it is possible to perform necessary calculations in cooperation with the other management apparatus or machine tool or the like, and thereby shorten a processing time.
    Type: Grant
    Filed: August 20, 2018
    Date of Patent: July 28, 2020
    Inventors: Makoto Ichinose, Yasuharu Aizawa
  • Patent number: 10722090
    Abstract: The present invention relates to an autonomously operable vacuum cleaner that has a modular design. The vacuum cleaner in this respect comprises a cleaning head module as well as a separate canister module. The cleaning head module and the canister module are in this respect connected to one another via a hose so that dust sucked in via the cleaning head module can be conveyed into the canister module.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: July 28, 2020
    Assignee: EUROFILTERS N.V.
    Inventors: Jan Schultink, Ralf Sauer
  • Patent number: 10725298
    Abstract: Systems and methods disclosed provided a virtual reality experience, including: a set of motorized pads for coupling to feet of a user; a means of communication between the set of motorized pads and a computing environment operating a virtual reality headset; such that the set of motorized pads are configured to provide pressure on a user's feet as an avatar within a virtual environment traverses the environment. Systems and methods disclosed further provide a multiuser virtual reality experience. Systems and methods disclosed further provide a multiuser experience including generation of a common environment viewable in the virtual reality headsets; and recording a tour including audio data as the first user describes the common environment.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: July 28, 2020
    Assignee: MARK D. WIECZOREK, P.C.
    Inventor: Mark D. Wieczorek
  • Patent number: 10702987
    Abstract: A robot system having a communication established between a robot controller and a teach pendant. The robot system includes a robot; a detecting section for detecting a sign received by the robot; a robot controller for controlling the robot; a teach pendant capable of communicating with the robot controller and inputting an operational instruction for the robot into the robot controller; and an input permission section for permitting input of the operational instruction from the teach pendant into the robot controller when the sign is detected by the detecting section.
    Type: Grant
    Filed: September 11, 2017
    Date of Patent: July 7, 2020
    Inventors: Tetsuro Matsudaira, Syuntarou Toda
  • Patent number: 10702988
    Abstract: A method for load estimation and gravity compensation on a robotic arm including a joint is provided, and includes: receiving a first torque signal and a first joint angle when the arm is at a first position and subjected to a current load; generating a first torque value, correction parameters, and no-load and maximum-load torque values; changing the load applied to the arm to an unknown load; receiving a second torque signal and generating a second torque value; estimating an estimated load value of the unknown load; moving the arm to a second position; receiving a second joint angle; and generating a compensating torque value and outputting the compensating torque value to a driver module of the arm.
    Type: Grant
    Filed: May 7, 2018
    Date of Patent: July 7, 2020
    Assignee: Hiwin Technologies Corp.
    Inventors: Jia-Huei Jian, Cheng-Chin Chen, Jung-Fu Hou
  • Patent number: 10695138
    Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: June 30, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Robert E. Holop
  • Patent number: 10696240
    Abstract: A method for deriving extrinsic camera parameters of a vehicle camera. Calibration markers are provided on a flat ground surface and the vehicle is driven past the calibration markers. Marker boundaries are detected and matched to stored pre-determined shape parameters and a marker shape is identified. At least one extrinsic parameter of the camera is derived using the tracked positions of identified marker shape in the video sequence captured while vehicle is moving, wherein the extrinsic parameter is selected from mounting positions and a rotation is selected from both horizontal axis and vertical axis of a vehicle coordinate system.
    Type: Grant
    Filed: July 12, 2016
    Date of Patent: June 30, 2020
    Assignee: Continental Automotive GmbH
    Inventors: Lingjun Gao, Heba Khafagy, Dave Wibberley
  • Patent number: 10682771
    Abstract: A driving mechanism includes a first link, a second link that relatively swings or rotates with respect to the first link, a driving portion that is supported by the first link and that applies a driving force for driving the second link, a sensor that is disposed between the driving portion and the second link and that outputs displacements of the driving portion and the second link, and a wiring member that is supported by the first link, the second link, and the driving portion.
    Type: Grant
    Filed: July 11, 2018
    Date of Patent: June 16, 2020
    Assignee: Canon Kabushiki Kaisha
    Inventor: Masaru Ogata
  • Patent number: 10678338
    Abstract: In one embodiment, a processor accesses sensor input data received from one or more sensors. The sensor input data represents one or more gestures. The processor determines, based on the sensor input data representing the one or more gestures, action data representing an action to be performed by a robot. The action includes physical movements of the robot. The processor evaluates the action data representing the action to be performed by the robot in light of evaluation data.
    Type: Grant
    Filed: June 9, 2017
    Date of Patent: June 9, 2020
    Inventors: Robert Dailey, Eric Zavesky, James Pratt, Yupeng Jia
  • Patent number: 10675160
    Abstract: The present disclosure provides a prosthetic thumb. The prosthetic thumb employs a specialized thumb rotating rack for matched mounting of the prosthetic thumb; the thumb rotating rack is connected between the thumb front support and the thumb back support through the coaxially arranged thumb front supporting shaft and thumb back supporting shaft; and the lead connected with the motor in the prosthetic thumb passes through the lead through hole through the thumb rotating rack open slot and no longer passes through a side face as in the prior art, so that when the thumb rotating rack is rotated due to opposite palm and side palm operation of the prosthetic thumb, the lead is not pulled and bent due to the rotation of the thumb rotating rack, and the service life of the lead is prolonged.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: June 9, 2020
    Inventor: Jinshi Bai
  • Patent number: 10663946
    Abstract: To efficiently estimate and detect a tool life of a machine tool while lowering an occupation ratio in a data band of a communication line between a machine tool and an upper-level controller, a management apparatus or the like. A machine tool to be managed by a production management apparatus includes a motor for moving one of a workpiece to be machined and a tool for performing a machining operation, an amplifier for driving the motor, a servo controller for controlling the motor via the amplifier based on a notification of a predetermined machining operation, and an NC device for notifying the servo controller of the predetermined machining operation. The servo controller obtains servo data representing a load on the amplifier, performs a first processing for compressing the servo data, and transmits the compressed data to the NC device.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: May 26, 2020
    Inventors: Naoto Sonoda, Yuusaku Oho
  • Patent number: 10642248
    Abstract: A coordinate measuring machine includes a body, a controller configured to control the driving of the body, and an operation unit configured to provide a command to the controller via, for instance, an operation lever to manually operate the body. A contact detection sensor is attached to the operation unit. The controller includes a sensor signal determiner configured to detect an operation-enable signal in response to a detection signal from the contact detection sensor.
    Type: Grant
    Filed: January 2, 2018
    Date of Patent: May 5, 2020
    Inventor: Yukimasa Nishio
  • Patent number: 10633045
    Abstract: A robot and its control device capable of improving recognition accuracy of a position and posture of a functional body such as a hand with respect to an object to thereby attain improved stability of the operation involving a change in position/posture of its body are provided. In a case where the magnitude of a deviation ?? of an angle ? made by two reference vectors U1 and U2, representing a manner in which a structure W extends in a camera coordinate system and in a hand coordinate system, respectively, with respect to a reference angle ?0 is greater than a threshold value ?, the probability that the state of interaction between the hand 13 (functional body) and the structure W is divergent from a desired state is high.
    Type: Grant
    Filed: March 15, 2018
    Date of Patent: April 28, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Satoshi Komuro, Itoshi Naramura
  • Patent number: 10618167
    Abstract: A robot arm allowing an improved ergonomic operation during a learning programming process of a robot having a robot arm with a number N of arm components An, which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n=1, 2, . . . , N.
    Type: Grant
    Filed: October 4, 2016
    Date of Patent: April 14, 2020
    Assignee: Kastanienbaum GmbH
    Inventor: Sami Haddadin
  • Patent number: 10612939
    Abstract: A system and method for ground truth estimation of an autonomous navigation system is described. The method includes calibrating a ground truth estimation system for the navigator, by determining a calibration pose of the navigator as disposed in relation to each of a plurality of landmarks during a calibration period. The method also includes directing the navigator to travel to a sequence of waypoints, the waypoints including a selected sequence of the landmarks. The method further includes determining the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks.
    Type: Grant
    Filed: January 2, 2014
    Date of Patent: April 7, 2020
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Harshavardhana Kikkeri, Stanley T. Birchfield, Mihai Jalobeanu
  • Patent number: 10606235
    Abstract: A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant. The control unit controls the motor based on the new movement command.
    Type: Grant
    Filed: April 7, 2017
    Date of Patent: March 31, 2020
    Inventors: Atsumi Hashimoto, Hiroyuki Nakata, Yasuyoshi Honuchi, Ryosuke Yamamoto
  • Patent number: 10599149
    Abstract: Apparatus, methods, and computer readable mediums for determining a position of a vehicle are provided. Imaging devices may be coupled to movable objects, such as unmanned aerial vehicles (UAVs). One or more images may be captured by an imaging device, such as a camera. Salient features within the one or more images may be determined. A distance from the vehicle to the salient features may be calculated and a position of the vehicle may be determined.
    Type: Grant
    Filed: January 11, 2017
    Date of Patent: March 24, 2020
    Inventor: Cong Zhao
  • Patent number: 10589176
    Abstract: A method of providing a virtual space. The method includes defining a virtual space by a processor. The method further includes displaying a field of view of the virtual space on a head mounted display device. The method further includes detecting, by the processor, a motion of the user wearing the head mounted display device. The method further includes determining, by the processor, a flying direction for an object in the virtual space in response to the detected motion. The method further includes flying, by the processor, the object within the virtual space in accordance with the flying direction. The method further includes moving, by the processor, the field of view in the flying direction.
    Type: Grant
    Filed: April 5, 2019
    Date of Patent: March 17, 2020
    Assignee: COLOPL, INC.
    Inventors: Yuki Kono, Naruatsu Baba
  • Patent number: 10576629
    Abstract: In one aspect, a method for controlling a compliant-controlled robot includes performing a boundary monitoring of the robot and controlling movement of the robot with a return force that is predetermined by control technology. If the robot is already in a blocked area upon activation of the boundary monitoring, then a first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area. If the robot arrived at the current position in the blocked area after activation of the boundary monitoring, then a second return force operates to return the robot from the current position toward the boundary. The first return force is at least temporarily less than the second return force.
    Type: Grant
    Filed: July 13, 2016
    Date of Patent: March 3, 2020
    Assignee: KUKA Deutschland GmbH
    Inventors: Matthias Rohmer, Tobias Reichl, Gunter Schreiber, Holger Monnich, Martin Mueller-Sommer, Uwe Bonin
  • Patent number: 10572170
    Abstract: A computer-implemented method, according to one embodiment, includes: receiving a first portion of data to be written in a magnetic medium, dividing the first portion of data into a plurality of blocks, appending an identification segment having identification information therein to each of the blocks, wherein each block and the corresponding identification information appended thereto forms a record, writing each record in a data partition of the magnetic medium, and writing an index in the data partition of the magnetic medium in response to a predetermined condition being met, wherein the index is associated with all data on the magnetic medium. Other systems, methods, and computer program products are described in additional embodiments.
    Type: Grant
    Filed: December 5, 2016
    Date of Patent: February 25, 2020
    Assignee: International Business Machines Corporation
    Inventors: Atsushi Abe, Tohru Hasegawa
  • Patent number: 10551474
    Abstract: The presently disclosed subject matter includes a method, a system and a delay compensation unit configured for compensating a delay in communication between a sensing unit and a control unit. A succession of two or more captured images are received from the sensing unit; information indicative of command dynamics parameters are obtained from the control unit; based on the information and a respective transfer function which models the dynamics of the sensor module, the expected reaction of the sensor module to the command is determined; and information indicative of the reaction before the command is executed in the sensing unit can be provided.
    Type: Grant
    Filed: January 14, 2014
    Date of Patent: February 4, 2020
    Inventors: Sagiv Bar David, Yossi Cohen
  • Patent number: 10543599
    Abstract: A robot system according to the present invention comprises a control apparatus for controlling a robot, and a video display apparatus connected to the control apparatus. The video display apparatus comprises a display unit which displays an image of a real space containing the robot, in real time as the image is taken by a camera, and an augmented reality image processing unit which causes a virtual image of an end effector or robot peripheral equipment of the robot to be displayed on the display unit in superimposed fashion on a real image of the robot taken by the camera. According to the robot system, even when the end effector or the robot peripheral equipment is not present, a robot teaching task can be performed by assuming that they are present.
    Type: Grant
    Filed: December 7, 2016
    Date of Patent: January 28, 2020
    Inventor: Toshiaki Kamoi
  • Patent number: 10539945
    Abstract: In order to retrieve a specific block from a machining program, a numerical controller calculates the distance between a command path based on one of blocks included in the machining program and a current position of a tool and, based on the calculated distance, displays only that one of the blocks included in the machining program which is located closest to the current tool position or displays a plurality of blocks side by side in the ascending order of distance from the current tool position.
    Type: Grant
    Filed: January 9, 2018
    Date of Patent: January 21, 2020
    Assignee: Fanuc Corporation
    Inventor: Yuuichi Kageyama
  • Patent number: 10537996
    Abstract: Systems and methods for controlling a swarm of mobile robots are disclosed. In one aspect, the robots cover a domain of interest. Each robot receives a density function indicative of at least one area of importance in the domain of interest, and calculates a velocity vector based on the density function and a displace vector relative to an adjacent robot. Each robot moves to the area of importance according to its velocity vector. In some aspects, the robots together perform a sequence of formations. Each robot mimics a trajectory as part of its performance by switching among a plurality of motion modes. Each robot determines its next motion mode based on a displacement vector relative to an adjacent robot.
    Type: Grant
    Filed: May 5, 2015
    Date of Patent: January 21, 2020
    Assignee: Georgia Tech Research Corporation
    Inventors: Magnus Egerstedt, Sung Gun Lee, Yancy Diaz-Mercado, Smriti Chopra