Article Manipulator Moves Analogous With Human Hand, Finger, Or Arm Movement Patents (Class 414/1)
  • Patent number: 11678033
    Abstract: A multi-purpose imaging and display system includes a display; a detector coupled to the display and having a field of view; and a filter communicating with the detector. The field of view is imaged by the detector through the filter, the filter configured to be sensitive to a first frequency spectrum, so the detector displays only objects within the field of view on the detector that emit one or more frequencies within the first frequency spectrum. The detector and filter can work together in different operational states or modes for acquiring image data of a target object under investigation. A computing device can be included to process acquired image data, and communication interfaces can be employed to achieve networking of multiple systems. A peripheral interface allows a plurality of peripheral devices to be selectively added to tailor the data acquisition and display capabilities of the imaging and display system.
    Type: Grant
    Filed: June 14, 2021
    Date of Patent: June 13, 2023
    Assignee: The University of Akron
    Inventor: Yang Liu
  • Patent number: 11625021
    Abstract: An actuator system may include a first actuator for being operated by a user, a second actuator for performing a movement of the user, and a transmission channel between the first actuator and the second actuator for transmitting the velocity and the force of the first actuator to the second actuator and vice versa. The actuator system may also include a controller, wherein the controller is configured such that, with the aid of the controller, the energy of the first actuator is adapted to be measured as a desired energy, wherein the transmission channel is configured for transmitting the desired energy to the second actuator and the controller is configured for controlling the damping of the second actuator as a function of the desired energy.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: April 11, 2023
    Assignee: Deutsches Zentrum für Luft- und Raumfahrt e.V.
    Inventor: Michael Panzirsch
  • Patent number: 11612536
    Abstract: A wearable apparatus and a method assist and control muscular strength. The wearable apparatus includes a support unit located on the rear surface of a wearer. An actuator is fixed to the support unit and a sliding unit is slidably connected to the actuator and is slidable with respect to the support unit due to driving of the actuator. First and second rotating units are connected to the support unit to be located at both sides of the wearer such that one end of each of the first and second rotating units is coupled to the support unit so as to be rotatable forwards and backwards with respect to the support unit. A power transmission unit is provided with respective ends coupled to the first and second rotating units via the sliding unit and configured to generate rotary force of the first and second rotating units.
    Type: Grant
    Filed: November 22, 2019
    Date of Patent: March 28, 2023
    Inventors: Hyun Seop Lim, Sang In Park, Dong Jin Hyun
  • Patent number: 11311445
    Abstract: A wearable apparatus for assisting muscular strength includes a base secured to a torso, a first rotary link coupled at a first end to the base to be rotatable about a first rotating axis and extending at a second end to a first side of the wearer to be moved forwards or backwards, a first extension link extending at a first end to the first side of the wearer and located at a second end on a wearer's flank, a first connecting part coupled at a first end to the second end of the first rotary link to be rotatable about a second rotating axis, and coupled at a second end to the first end of the first extension link to be rotatable about a third rotating axis, and a first upper-arm fixing part rotatably coupled at a first end to the second end of the first extension link.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: April 26, 2022
    Inventors: Beom Su Kim, Hyun Seop Lim, Kyu Jung Kim, Dong Jin Hyun, Ki Hyeon Bae
  • Patent number: 11227784
    Abstract: Provided is a holding device 45 capable of holding securely and transporting a thin plate-shaped substrate for which surface processing has been completed without causing a natural oxide film to form on the surface to be processed thereof. This holding device 45 comprises a holding member 47 for holding the thin plate-shaped substrate, a purge plate 46 having formed therein a flow path 52 for the purpose of flowing therethrough an inert gas, and a piping member for connecting an inert gas supply source to the flow path 52. The purge plate 46 is equipped with discharged ports 51, which communicate with the flow path 52 and are provided on a surface facing the surface to be processed of the thin plate-shaped substrate held by the holding member 47, for the purpose of discharging the inert gas onto the processing surface of the thin plate-shaped substrate.
    Type: Grant
    Filed: January 17, 2019
    Date of Patent: January 18, 2022
    Inventors: Katsunori Sakata, Yasuhisa Sato
  • Patent number: 11162568
    Abstract: The disclosure relates to an adjustment gearing device for a shaft, comprising a strain wave gearing. The strain wave gearing has a spur gear device and an inner rotor, and the spur gear device has a first cylindrical section and a collar section. The first cylindrical section has a first diameter, and an outer toothing, and the inner rotor has an inner toothing, said outer toothing and inner toothing meshing together at least in some regions. The adjustment gearing device also comprises an outer rotor, said inner rotor being rotatable in a rotational direction relative to the outer rotor. The spur gear device is rotationally fixed to the outer rotor, and has a second cylindrical section for contacting the outer rotor. The second cylindrical section has a second diameter, and the second diameter is larger than the first diameter.
    Type: Grant
    Filed: November 7, 2017
    Date of Patent: November 2, 2021
    Assignee: Schaeffler Technologies AG & Co. KG
    Inventor: Tobias Preuß
  • Patent number: 11014227
    Abstract: A drive device capable of allowing a brake operation of a braking mechanism of the drive device to suppress a mechanical load applied to a mechanism unit (i.e., a robot mechanical section) provided with the drive device. The drive device includes a first braking mechanism provided in a first motor to execute a first brake operation on an operation shaft, a second braking mechanism provided in a second motor to execute a second brake operation on the operation shaft, and a brake controller configured to control the first braking mechanism and the second braking mechanism to allow the first brake operation and the second brake operation to be continuously executed after starting the first brake operation before starting the second brake operation.
    Type: Grant
    Filed: April 26, 2019
    Date of Patent: May 25, 2021
    Inventor: Masahide Shinagawa
  • Patent number: 10987817
    Abstract: The invention relates to an industrial robot (1) having a robot arm (2) with a plurality of axes (9, 10) designed for a high payload and having a weight equalization system (12) based on gas for at least one of the axes (9), whose pressurized components (13-15) each have a volume of less than 1 liter and a maximum pressure of less than 1000 bar.
    Type: Grant
    Filed: September 29, 2010
    Date of Patent: April 27, 2021
    Assignee: KUKA Deutschland GmbH
    Inventors: Albert Bayer, Gunther Merk
  • Patent number: 10959795
    Abstract: A remote-control manipulator system which includes a manipulator, a slave arm installed in a workspace and configured to perform a series of works comprised of a plurality of processes, a situation information acquisition device configured to acquire situation information indicating a situation of the slave arm, an environment reproducing device configured to reproduce, in a space where the manipulator is installed, environment information relating to an environment in the workspace, and a control device. The control device is configured to cause the environment reproducing device to reproduce the environment information corresponding to the situation information outputted from the situation information acquisition device.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: March 30, 2021
    Inventors: Yasuhiko Hashimoto, Masayuki Kamon
  • Patent number: 10792111
    Abstract: A robot comprising an arm extending between a base and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.
    Type: Grant
    Filed: January 8, 2015
    Date of Patent: October 6, 2020
    Inventors: Luke David Ronald Hares, Steven James Randle
  • Patent number: 10576624
    Abstract: A rotational driving mechanism for driving a first member and a second member, which are part of a robot, to rotate relatively on a predetermined rotational driving plane by means of a linear motion actuator having a linear motion output shaft, includes: a first link unit with which the output shaft is connected, and which is arranged so as to be rotatable with respect to the first member through a first rotation shaft, and which is also arranged so as to be rotatable with respect to the second member side through a second rotation shaft; a second link unit which is connected with a first support shaft arranged at the first member side, and which is connected with a second support shaft arranged at the second member side, with a center distance between the first support shaft and the second support shaft being made constant.
    Type: Grant
    Filed: October 27, 2015
    Date of Patent: March 3, 2020
    Assignee: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 10514687
    Abstract: Systems and methods for simultaneously and economically providing high speed and precision robotic operations with operational safety include directly performing training movements of a desired task on a collaborative robot, recording data corresponding to the training movements, and transmitting the recorded data to a conventional robot to cause the conventional robot to autonomously execute the training movements in accordance with the received data.
    Type: Grant
    Filed: January 8, 2016
    Date of Patent: December 24, 2019
    Inventors: Rodney Brooks, Michael Caine
  • Patent number: 10463438
    Abstract: A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.
    Type: Grant
    Filed: March 9, 2017
    Date of Patent: November 5, 2019
    Assignee: Memic Innovative Surgery Ltd.
    Inventors: Dvir Cohen, Yaron Levinson
  • Patent number: 10377036
    Abstract: A motorized articulated module comprises two elements that move with respect to one another, a linear actuator permitting motorization of the module and comprising a body and a stem able to move in translation with respect to the body along an axis, the body of the actuator connected to the elements by a connection having at least one degree of freedom in rotation, and two articulated rods associated with the actuator, connected to the stem of the actuator by a connection having one degree of freedom in rotation, the first articulated rod connected to the first element by a connection having at least one degree of freedom in rotation, the second articulated rod connected to the second element by a connection having at least one degree of freedom in rotation. An articulation comprising multiple modules and an exoskeleton comprising multiple articulations are provided.
    Type: Grant
    Filed: November 27, 2014
    Date of Patent: August 13, 2019
    Inventors: Fayçal Namoun, Ramzi Sellaouti, Laurent Pistiaux
  • Patent number: 10368953
    Abstract: A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: August 6, 2019
    Assignee: P Tech, LLC
    Inventor: Peter M. Bonutti
  • Patent number: 10335943
    Abstract: A robot arm mechanism has a plurality of joints. Of the plural joints, a first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The second axis is perpendicular to the first axis and is a first distance away from the first axis. The third axis is perpendicular to the second axis and is a second distance away from the second axis.
    Type: Grant
    Filed: April 21, 2017
    Date of Patent: July 2, 2019
    Assignee: Life Robotics Inc.
    Inventor: Woo-Keun Yoon
  • Patent number: 10279483
    Abstract: The invention relates to a robot comprising a tool (8), a first chain of elements having a proximal end element (6) and a distal end element (7) to which the tool is connected, at least one control member (9) of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means (13, 14, 15) for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element.
    Type: Grant
    Filed: June 3, 2015
    Date of Patent: May 7, 2019
    Inventors: Florian Gosselin, Xavier Lamy, Dominique Ponsort
  • Patent number: 10258419
    Abstract: Methods and devices are provided for performing robotic surgery. In general, a surgical system is provided including an electromechanical tool with a first mode of operation in which the electromechanical tool mimics movement of a controller, and a second mode of operation in which the tool mirrors movement of the controller. A hybrid surgical device is also provided including an adapter matable to a handle assembly such that the adapter is electronically coupled to a motor of the handle assembly and is configured to communicate with the motor. A robotic laparoscopic surgical device is also provided including a motion sensor configured to sense movement of an electromechanical tool and an electromechanical arm that assists movement of the tool. A robotic surgical device is also provided including an electromechanical driver associated with a trocar and being configured to rotate and to translate a tool disposed through a passageway.
    Type: Grant
    Filed: September 25, 2015
    Date of Patent: April 16, 2019
    Assignee: Ethicon LLC
    Inventors: Michael D. Auld, Kevin D. Felder, Steven G. Hall, Eric W. Thompson
  • Patent number: 10213886
    Abstract: The invention relates to a method and a device for making tools and/or handling equipment available for a treatment machine, wherein a mobile magazine contains at least two different types of tools and/or handling equipment together.
    Type: Grant
    Filed: June 18, 2014
    Date of Patent: February 26, 2019
    Inventor: Klaus Hofmann
  • Patent number: 10058963
    Abstract: A robotic system for replacing a spent end effector component with a replacement end effector component is disclosed. The robotic system comprises a surgical end effector comprising an attachment portion. The robotic system further comprises an extraction system comprising a rotary extractor. The rotary extractor is configured to release the spent end effector component from the attachment portion of the surgical end effector when the spent end effector component in the surgical end effector is moved into engagement with the rotary extractor as the rotary extractor is rotated.
    Type: Grant
    Filed: August 14, 2014
    Date of Patent: August 28, 2018
    Assignee: Ethicon LLC
    Inventors: Frederick E. Shelton, IV, Jerome R. Morgan
  • Patent number: 10052163
    Abstract: The present disclosure relates to system(s) and method(s) for assisting a surgeon to operate a surgical device. The system is configured to receive real-time spatial data corresponding to a set of movable arms of a surgical device. In one embodiment, each tag may be enabled to capture the real-time spatial data by a set of sensors deployed on each tag with precise coordinate markings. Further, the system receive reference spatial data corresponding to each of the set of movable arms pertaining to the surgical device. The system is configured to compare the real-time spatial data with the reference spatial data to generate a matching score corresponding to each movable arm. The system is configured to identify one or more movable arms, from the set of movable arms with a matching score greater than a predefined threshold score and generate an alert corresponding to the one or more movable arms.
    Type: Grant
    Filed: July 17, 2017
    Date of Patent: August 21, 2018
    Inventor: Dorairaj Balusamy
  • Patent number: 10031493
    Abstract: The invention relates to an actuator apparatus (1) for generating the motion of a tool, in particular for the work on biological cell material, which provides at least one electrically controlled actuator element (3), a motion section (3a), at which a tool can be arranged and which is linked to the at least one actuator element, an electrical control device (11) for controlling the at least one actuator element, an electrical measurement device (12), which is configured to perform a measuring method for measuring at least one electrical capacitance quantity of the at least one actuator element, wherein the capacitance quantity is usable to provide information on the status of the actuator apparatus. Further, a corresponding method for obtaining and utilizing said information on the actuator apparatus is provided.
    Type: Grant
    Filed: June 15, 2012
    Date of Patent: July 24, 2018
    Inventors: Andreas Schirr, Andreas Graff
  • Patent number: 9849585
    Abstract: A robotic arm for flexible operation in three dimensional space is provided. The robotic arm is divided into several arm parts with multiple joints to move the robot arm in three-dimensional space. The length and angle of the different arm parts are adjustable. The functioning of arm parts is controlled by one or more motors. The motors are configured to control a change in length and angle of the arm parts. Based on usage, a motor is used to change the length and two, four, or six motors or even more motors are used to change the angle and adjust an access to the target. The robot is assembled by varying the number of attachable arm parts depending on the direction of movement and the degree or direction of rotation.
    Type: Grant
    Filed: November 27, 2014
    Date of Patent: December 26, 2017
    Inventor: Ali Sanatkar
  • Patent number: 9827061
    Abstract: A command interpreter is in communication with a wireless controller. The command interpreter is configured to identify a reference location of the wireless controller, identify a second location of the wireless controller, and determine, based on the reference location and the second location, a sequence of instrument commands configured to adjust positioning of the instrument device.
    Type: Grant
    Filed: November 21, 2016
    Date of Patent: November 28, 2017
    Assignee: Hansen Medical, Inc.
    Inventors: Kamini Balaji, Sean P. Walker, Serena H. Wong, June Park, Richard Henderson
  • Patent number: 9694501
    Abstract: Provided is a parallel link robot which has increased rigidity and which can be reduced in size. The parallel link robot includes: a base (1); a movable portion (2); a plurality of link portions (5) connecting the base (1) and the movable portion (2); and a plurality of actuators (6) for driving the plurality of link portions (5), wherein each of the plurality of actuators (6) is a linear actuator (6) supported on the base (1) to be rotatable about a predetermined axis (A1) and has a main body portion (8) and a shaft portion (7) for linearly moving relative to the main body portion (8), and each of the plurality of link portions (5) has a driving link (3) supported on the base (1) to be rotatable about a predetermined axis (A2) and connected to the linear actuator (6) and a driven link (4) connecting the driving link (3) and the movable portion (2).
    Type: Grant
    Filed: November 29, 2012
    Date of Patent: July 4, 2017
    Assignee: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 9629683
    Abstract: Provided is an operation input device including a base member; a grip that is gripped by an operator and that is moved relative to the base member; a coupling portion that couples the grip to the base portion in a pivotable manner; and a scaling-ratio changing mechanism that changes an amount by which the grip is moved with respect to a pivoting angle of the coupling portion, and an object thereof is to enable switching operation between a coarse movement and a fine movement by using the same operation.
    Type: Grant
    Filed: May 15, 2015
    Date of Patent: April 25, 2017
    Inventor: Izumi Hatta
  • Patent number: 9586556
    Abstract: Adjusting device for a front lid, with an actuator for raising the rear edge of the front lid, wherein the actuator has a first linear drive which enables a substantially vertical movement of the front lid and a second linear drive which enables a substantially horizontal movement of the front lid.
    Type: Grant
    Filed: October 20, 2014
    Date of Patent: March 7, 2017
    Assignee: AUDI AG
    Inventors: Peter Kugler, Wolfgang Dorfner, Harald Sternecker, Bernhard-Konrad Pfaller, Istvan Virag
  • Patent number: 9561595
    Abstract: An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.
    Type: Grant
    Filed: September 18, 2014
    Date of Patent: February 7, 2017
    Assignee: Google Inc.
    Inventor: Brian Dellon
  • Patent number: 9400971
    Abstract: In some examples, a reader system is provided for managing inventory items in an inventory system. The reader system may be configured to read tags associated with items stowed in an inventory holder. The inventory holder may be detachably coupled to a mobile drive unit. The mobile drive unit may move the inventory holder to a first position near an antenna of the reader system and the tags may begin to be read. While reading or at other times in the reading process, the mobile drive unit may move the inventory holder relative to the antenna. The identified tags may be compared to a manifest list of items expected to be stowed in the inventory holder.
    Type: Grant
    Filed: December 2, 2014
    Date of Patent: July 26, 2016
    Assignee: Amazon Technologies, Inc.
    Inventors: Ryan Scott Russell, Thomas Matthew Ryle, Wesley Scott Lauka, Jonathan David Phillips, James Hollis Wood
  • Patent number: 9358646
    Abstract: A supporting structure for positioning manipulating arms that may be fitted with tools. The manipulating arms are unblocked for their relocation and/or for relocation of tools or parts held by the manipulating arms. Relocation of the manipulating arms into a new position is by means of a robot. Once relocated, the manipulating arms are again blocked. A supporting frame is fitted with at least one sliding guide and/or spherical joint in which each manipulating arm is movably disposed. Blocking and unblocking of the manipulating arms is achieved through the use of pneumatic or electrical power.
    Type: Grant
    Filed: February 11, 2013
    Date of Patent: June 7, 2016
    Inventors: Michael Valasek, Martin Smrz, Petr Svatos, Pavel Kukula, Tereza Kasparkova, Milan Ruzicka, Ondrej Uher
  • Patent number: 9314934
    Abstract: An arm assembly for use in a robot to provide gravity counterbalancing of the robot arms. The arm assembly includes an arm and a drive assembly. The arm assembly includes a differential interconnecting the drive assembly with the arm link. The differential is attached to a torso-side or upper end of the arm link, and the differential is adapted to provide gravity counterbalancing for the predefined mass of the arm link. A pair of half counterweights are provided and arranged to each move in one degree of freedom and to provide two equal counterweights to the differential's two inputs such as input gears, pulleys, or the like. The drive assembly includes two motors that are grounded. In some embodiments, both the motors and the counterweights are spaced apart from the robot's shoulder, i.e., spaced apart from the differential near the robot's pelvis or low in the torso.
    Type: Grant
    Filed: February 27, 2014
    Date of Patent: April 19, 2016
    Assignee: Disney Enterprises, Inc.
    Inventor: John P. Whitney
  • Patent number: 9244523
    Abstract: A manipulator system includes a master manipulation unit that performs a manipulation input by an operator, a slave motion unit that operates in accordance with the manipulation input, an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input, and an interlock permission input unit that is capable of being manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit.
    Type: Grant
    Filed: January 31, 2014
    Date of Patent: January 26, 2016
    Inventors: Ryohei Ogawa, Masaru Yanagihara
  • Patent number: 9165734
    Abstract: A microgripper (2) comprises a pair of opposed actuator devices (4, 6) connected to an electronic control unit (8). Each actuator (4, 6) includes an actuator body 10 of transparent flexible epoxy based photoresist material forming a “hot” arm (12) and a “cold” arm (14) joined together at their ends, and an electrical heating element wire (18) is embedded in the “hot” arm (12). A gripper arm (32) extends from the substrate and has a gripping portion (34) such that the gripper portions of the two gripper arms (32) face each other. When electrical current is supplied to the heating element (18), electrical heating of the “hot” arm (12) occurs, as a result of which thermal expansion of the “hot” arm (12) causes its length to become greater than that of the “cold” arm (14).
    Type: Grant
    Filed: May 23, 2007
    Date of Patent: October 20, 2015
    Assignee: University Of Durham
    Inventors: David Wood, Belen Pilar Solano Hermosilla, Mary Herbert
  • Patent number: 9034055
    Abstract: A synergy-based human-machine interface that uses low-dimensional command signals to control a high dimensional virtual, robotic or paralyzed human hand is provided. Temporal postural synergies are extracted from angular velocities of finger joints of five healthy subjects when they perform hand movements that are similar to activities of daily living. Extracted Synergies are used in real-time brain control, where a virtual, robotic or paralyzed human hand is controlled to manipulate virtual or real world objects.
    Type: Grant
    Filed: September 27, 2011
    Date of Patent: May 19, 2015
    Inventors: Ramana Kumar Vinjamuri, Wei Wang, Zhi-Hong Mao, Douglas John Weber
  • Publication number: 20150016923
    Abstract: An exoskeleton assembly having an upper body support assembly pivotally connected to a lower body support assembly. A caliper assembly is connected to the lower and upper body support assemblies and includes a load arm attached to a differential strut. The caliper assembly has links pivotally attached to the upper and lower body assemblies. Pistons attached to the load arm substantially maintain a mounting component in an upright position.
    Type: Application
    Filed: January 10, 2013
    Publication date: January 15, 2015
    Inventor: Garrett W. Brown
  • Patent number: 8924013
    Abstract: A path planning system for bringing state of an object into a target state includes a search tree production unit for producing in advance, in a state space with said target state defined as a root, a search tree having a branch at each one of a plurality of sections of the state space, said state space being divided into the plurality of sections in advance. The system also includes a search tree memory unit for storing the search tree, and a path generation unit for determining, a route on the search tree from the branch corresponding to the current state to the root. The path planning/control system further includes a path control unit for controlling the path of the object to bring the state of the object into the target state in accordance with the route on the search tree determined by the path planning system.
    Type: Grant
    Filed: January 27, 2012
    Date of Patent: December 30, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventor: Chyon Hae Kim
  • Publication number: 20140330431
    Abstract: A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.
    Type: Application
    Filed: May 6, 2014
    Publication date: November 6, 2014
    Inventors: Kevin Hollander, Nathan Cahill, Darren Kinney, Preston Clouse, Robert Holgate, Raymond Churchwell
  • Patent number: 8868231
    Abstract: In a system, one or more robotic arms are positioned adjacent a transport surface that is moving workpieces, and one or more picking elements are connected to each of the robotic arms. The picking elements have physical picking features that remove the workpieces from the transport surface and move the workpieces to another location. A controller is operatively connected to the robotic arms and the picking elements, and the controller independently controls the robotic arms and the picking elements to dynamically position the picking elements in coordination with a dynamic size, spacing, and transport speed of the workpieces being moved by the transport surface.
    Type: Grant
    Filed: August 10, 2011
    Date of Patent: October 21, 2014
    Assignee: Xerox Corporation
    Inventors: Kenneth P. Moore, Douglas K. Herrmann, Derek A. Bryl, Paul N. Richards, Richard Scarlata
  • Patent number: 8770905
    Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.
    Type: Grant
    Filed: May 2, 2011
    Date of Patent: July 8, 2014
    Assignees: King Fahd University of Petroleum and Minerals, King Abdulazia City for Science and Technology
    Inventors: Mayez Al-Mouhamed, Nesar Merah
  • Patent number: 8668702
    Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.
    Type: Grant
    Filed: April 13, 2009
    Date of Patent: March 11, 2014
    Assignee: The Regents of the University of Michigan
    Inventors: Shorya Awtar, Jens Nielsen, Tristan Trutna, Andrew Mansfield, Rosa Abani, James Geiger, Patrick Quigley
  • Patent number: 8644986
    Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.
    Type: Grant
    Filed: September 11, 2008
    Date of Patent: February 4, 2014
    Assignee: Sony Corporation
    Inventors: Toshimitsu Tsuboi, Takeo Kishida, Tetsuharu Fukushima
  • Patent number: 8573077
    Abstract: A method for inspecting a wafer and a system. The system includes: a chuck; and a robot that includes a movable element connected to a detachable adaptor selected from a group of diced wafer detachable adaptors and non-diced wafer detachable adaptors; wherein a diced wafer detachable adaptor is shaped such to partially surround the diced wafer and comprises at least one vacuum groove adapted to apply vacuum on a tape that supports the diced wafer; and wherein the robot is adapted to fetch the wafer from a cassette and to place the wafer on the chuck.
    Type: Grant
    Filed: October 2, 2012
    Date of Patent: November 5, 2013
    Assignee: Camtek Ltd.
    Inventors: Itzik Nisany, Amir Gilead, Michael Vainer, Valery Nuzni
  • Patent number: 8392023
    Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.
    Type: Grant
    Filed: November 30, 2009
    Date of Patent: March 5, 2013
    Assignees: GM Global Technology Operations LLC, Universite Laval
    Inventors: Vincent Duchaine, Noemie Paradis, Thierry Laliberte, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
  • Publication number: 20120328395
    Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
    Type: Application
    Filed: December 20, 2011
    Publication date: December 27, 2012
    Inventors: Stephen C. Jacobsen, Fraser M. Smith, John McCullough, Glenn Colvin, JR., Wayco Scroggin, Marc X. Olivier
  • Publication number: 20120294696
    Abstract: An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).
    Type: Application
    Filed: May 20, 2011
    Publication date: November 22, 2012
    Inventors: Matthew D. Summer, Paul M. Bosscher, Loran J. Wilkinson, William S. Bowman, John B. Rust
  • Publication number: 20120237319
    Abstract: An operator controllable robotic device is disclosed. The robotic device comprises a support member, an upper robotic arm, a lower robotic arm, and a control arm. The upper robotic arm is coupled to the support member and has rotational movement in at least one degree of freedom relative to the support member. The lower robotic arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows an operator to control the robotic device. The control arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows a movement of the operator to control a movement of at least one of the upper robotic arm and the lower robotic arm.
    Type: Application
    Filed: March 15, 2012
    Publication date: September 20, 2012
    Inventors: Stephen C. Jacobsen, Fraser M. Smith, John McCullough, Marc X. Olivier, Glenn Colvin, Wayco Scroggin
  • Patent number: 8226072
    Abstract: If the rotation angle in a rotation direction allowed by a joint portion detected by the angle sensor is no more than a predetermined lower limit or no less than a predetermined upper limit, the controller maintains the released state of the brake mechanism so that the rotation of the workpiece in the direction is not restricted.
    Type: Grant
    Filed: April 22, 2009
    Date of Patent: July 24, 2012
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Hideyuki Murayama
  • Patent number: 8170711
    Abstract: A system for transporting inventory items includes an inventory holder capable of storing inventory items and a mobile drive unit. The mobile drive unit is capable of moving to a first point with the inventory holder at least one of coupled to and supported by the mobile drive unit. The mobile drive unit is additionally capable of determining a location of the inventory holder and calculating a difference between the location of the inventory holder and the first point. The mobile drive unit is then capable of determining whether the difference is greater than a predetermined tolerance. In response to determining that the difference is greater than the predetermined tolerance, the mobile drive unit is also capable of moving to a second point based on the location of the inventory holder, docking with the inventory holder, and moving the mobile drive unit and the inventory holder to the first point.
    Type: Grant
    Filed: January 28, 2011
    Date of Patent: May 1, 2012
    Assignee: Kiva Systems, Inc.
    Inventors: Raffaello D'Andrea, Peter K. Mansfield, Michael C. Mountz, Dennis Polic, Patrick R. Dingle
  • Patent number: 8160743
    Abstract: An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.
    Type: Grant
    Filed: August 16, 2006
    Date of Patent: April 17, 2012
    Assignee: Brainlab AG
    Inventors: Rainer Birkenbach, Andreas Hartlep, Richard Wohlgemuth, Michael Bertram, Alin Albu-Schäffer, Markus Grebenstein, Ulrich Hagn, Klaus Jöhl, Mathias Nickl, Tobias Ortmaier, Franz Hacker, Rainer Konietschke, Stefan Jörg
  • Publication number: 20110164949
    Abstract: A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.
    Type: Application
    Filed: December 28, 2010
    Publication date: July 7, 2011
    Inventors: Jeong Hun KIM, Young Bo Shim, Soo Sang Yang, Yong Jae Kim, Kwang Jun Kim