Electric Or Fluid Motor Drive For Manipulator Patents (Class 414/4)
  • Patent number: 10274966
    Abstract: An autonomous mobile device includes a map interpretation module, an image collection module, an image collection module, an artificial marker identification module, a personal guidance module, a voice input module and a control module. The image collection module collects an image in front of the autonomous mobile device and form an image signal. The artificial marker identification module receives the image signal and identifies the artificial marker in the image to achieve a positioning of the autonomous mobile device. The personal guidance module activates a personal guidance mode of the autonomous mobile device, and stores a location of a guidance point and an actual movement information of the autonomous mobile device to form a guidance path. The voice input module inputs a name of the guidance path. The control module controls the autonomous mobile device to move according to the guidance path stored by the map interpretation module.
    Type: Grant
    Filed: December 30, 2016
    Date of Patent: April 30, 2019
    Assignee: Shenzhen Airdrawing Technology Service Co., Ltd
    Inventors: Horng-Juing Lee, Tien-Ping Liu, Shu-Fen Chen, Yu-Chien Hsiao, Yu-Tai Hung, Fu-Hsiung Yang
  • Patent number: 10208893
    Abstract: Systems and methods are provided for supporting an arm of a user while using a tool that include a harness configured to be worn on a body of a user; an arm support pivotally coupled to the harness for supporting a user's arm; and a tool mount on a free end of the arm support for receiving a tool such that the tool is manipulatable by a hand of user's arm supported by the arm support. One or more compensation elements may be coupled to the arm support and/or the tool mount for at least partially offsetting a gravitational force acting on the user's arm and/or the tool received on the tool mount.
    Type: Grant
    Filed: August 29, 2016
    Date of Patent: February 19, 2019
    Assignee: ENHANCE TECHNOLOGIES, LLC
    Inventor: Mark C. Doyle
  • Patent number: 10189168
    Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.
    Type: Grant
    Filed: November 18, 2015
    Date of Patent: January 29, 2019
    Assignee: Soft Robotics, Inc.
    Inventors: Joshua Aaron Lessing, Ryan Knopf, Carl Vause
  • Patent number: 10109517
    Abstract: A rotational indexer is provided that may be rotated to move semiconductor wafers or other items between various stations arranged in a circular array; the items being moved may be supported by arms of the indexer during such movement. The rotational indexer may be further configured to also cause the items being moved to rotate about other rotational axes to cause rotation of the items relative to the arms supporting them.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: October 23, 2018
    Assignee: Lam Research Corporation
    Inventors: Richard M. Blank, Karl F. Leeser
  • Patent number: 10071476
    Abstract: A device comprising a main body, an arm assembly comprising first arm member, a first joint, a second arm member, a second joint, orientation control means for adjusting the orientation of the arm members and/or joints of the arm assembly relative to the main body, one or more passive actuating means for counterbalancing at least a part of the weight of the arm assembly, wherein an adjustable lever mechanism is arranged between the main body and the arm assembly, drive means configured for adjusting the lever arm, one or more orientation sensors for determining the orientation of the arm members and/or joints of the arm assembly relative to the main body, and lever arm control means for adjusting the lever arm of the adjustable lever mechanism with the drive means. The invention further relates to a method of adjusting a lever arm of such a device.
    Type: Grant
    Filed: December 11, 2015
    Date of Patent: September 11, 2018
    Assignee: SKEL-EX HOLDING B.V.
    Inventor: Gaurav Genani
  • Patent number: 10035262
    Abstract: Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.
    Type: Grant
    Filed: October 6, 2016
    Date of Patent: July 31, 2018
    Assignee: X Development LLC
    Inventor: Christopher Lynn Morey
  • Patent number: 10004625
    Abstract: An eating aid robot and a method performed thereby are provided. The robot comprises an arm capable of engaging an eating tool at an end of the arm. The arm is moveable to move the eating tool horizontally and vertically, wherein the arm is configured to be positioned with the eating tool in at least two vertical levels. The robot is connectable to a maneuver device which sends a signal to the robot, wherein the arm follows a cycle of different vertical and horizontal movements and pauses when the arm is kept still with the eating tool in at least one of the vertical levels. The method comprises receiving the signal from the maneuver device, and selecting a subsequent movement and/or pause of the cycle for the arm based on in which of the movements or pauses of the cycle the arm currently is when receiving the signal.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: June 26, 2018
    Assignee: Bestic AB
    Inventors: Jonathan Fogelberg, Ann-Louise Lindborg
  • Patent number: 9949749
    Abstract: A method for capturing an object in a cavity in a patient is described. The method includes advancing a ureteroscope into the cavity containing the object. A basket is advanced through a working channel of the ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Then, two actions are performed simultaneously. The basket is collapsed while simultaneously the basket tool is advanced forward so that the object remains within the basket, ideally near the center of the basket, as the basket closes around the object. Once the object is captured, the basket is retracted to remove the object out of the cavity. Further, this process may be automated by having the method carried out by robotic arms acting in tandem, with one or more robotic arms advancing the basket tool or ureteroscope, and another robotic arm collapsing the basket.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: April 24, 2018
    Assignee: Auris Surgical Robotics, Inc.
    Inventors: David P. Noonan, Joseph A. Urban, Jr., Varun Agrawal
  • Patent number: 9796097
    Abstract: A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section.
    Type: Grant
    Filed: September 9, 2014
    Date of Patent: October 24, 2017
    Assignee: Seiko Epson Corporation
    Inventor: Daisuke Kirihara
  • Patent number: 9764481
    Abstract: A flexible wrist-type element, comprising: a base housing extending along a first longitudinal axis towards a base end; an operational housing extending along a second longitudinal axis towards an operational end; an operational element moveably connected to the operational housing; a joint assembly movably connecting the base housing and the operational housing; wherein the joint assembly allows relative movement of the operational housing and the base housing between a first position and a second position, wherein a point of intersection between the second longitudinal axis and the first longitudinal axis moves during movement between the first position and the second position; a driver assembly moveably supported by the base housing and the operational housing; and wherein the driver assembly is configured to actuate the operational element relative to the operational housing.
    Type: Grant
    Filed: October 8, 2010
    Date of Patent: September 19, 2017
    Assignee: CAREFUSION 2200, INC.
    Inventor: Mark Doyle
  • Patent number: 9540793
    Abstract: A work machine control method of controlling a work machine including a work unit with a working tool, the work machine control method includes: detecting a position of the work unit; obtaining the position of the work unit based on the detected position information item and generating a first target excavation ground shape information item as an information item of an intersection portion of at least one target construction face indicating a target shape with respect to a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction; and controlling a velocity in a direction in which the work unit approaches an excavation target so that the velocity becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item.
    Type: Grant
    Filed: May 30, 2014
    Date of Patent: January 10, 2017
    Assignee: Komatsu Ltd.
    Inventors: Yoshiki Kami, Takeshi Takaura
  • Patent number: 9486927
    Abstract: Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.
    Type: Grant
    Filed: May 20, 2015
    Date of Patent: November 8, 2016
    Assignee: Google Inc.
    Inventor: Christopher Lynn Morey
  • Patent number: 9469031
    Abstract: A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means.
    Type: Grant
    Filed: March 13, 2015
    Date of Patent: October 18, 2016
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Fuminori Saito
  • Patent number: 9447562
    Abstract: A work vehicle includes a boom, an arm, a bucket, an arm cylinder, a direction control valve, a calculation portion, and a speed determination portion. The calculation portion calculates an estimated speed of the arm cylinder based on correlation between an amount of movement of the spool of the direction control valve in accordance with an amount of operation of an arm control lever and a speed of the arm cylinder. The speed determination portion determines a target speed of the boom based on the estimated speed of the arm cylinder. When the amount of operation of the arm control lever is smaller than a prescribed amount, the calculation portion calculates a speed higher than a speed of the arm cylinder in accordance with correlation as the estimated speed of the arm cylinder.
    Type: Grant
    Filed: September 10, 2014
    Date of Patent: September 20, 2016
    Assignee: KOMATSU LTD.
    Inventors: Takeshi Takaura, Yuto Fujii, Yoshiki Kami
  • Patent number: 9423869
    Abstract: An operation support device includes an operation part in which the operation input is performed by an operator, an action part to which a surgical tool is attached and which is driven by the operation input, a drive source that is provided in the operation part, and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit that sets the magnitude and direction of the driving force, wherein the control unit sets the magnitude and direction of the driving force based on the operation input to the operation part.
    Type: Grant
    Filed: January 17, 2014
    Date of Patent: August 23, 2016
    Assignee: OLYMPUS CORPORATION
    Inventor: Masaru Yanagihara
  • Patent number: 9342151
    Abstract: This disclosure includes a hand motion-capturing device with a force feedback system. In some embodiments the device includes a base, a microcontroller connected to the base, a thumb sensor module and four-finger sensor modules each electrically connected to the microcontroller. In some embodiments, the device may include five-link rods that interconnect the thumb sensor module to the base and each of the four-finger sensor modules to the base. In some embodiments, the device includes a thumb force feedback system adapted and configured to receive a human thumb and a four-finger force feedback system adapted and configured to receive an index finger, a middle finger, a ring finger, and a little finger. The thumb force feedback system and the four-finger force feedback system may each be movably connected to respective link rods and the thumb sensor module and four-finger sensor modules, respectively.
    Type: Grant
    Filed: August 14, 2014
    Date of Patent: May 17, 2016
    Inventor: Xiaochi Gu
  • Patent number: 9283679
    Abstract: A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value.
    Type: Grant
    Filed: January 19, 2012
    Date of Patent: March 15, 2016
    Assignee: OLYMPUS CORPORATION
    Inventor: Kosuke Kishi
  • Patent number: 9194403
    Abstract: A modular hinged joint which attaches to the end of a structural member converts agonist-antagonist tensile forces to either side of a cord into a torque in a second structural member. Plain bearing surfaces with hour-glass shaped profiles maintain the alignment of the joint tensile forces are applied to the cord. Tensile forces introduced from the cord are resolved within the joint, reducing the robustness demand on the attachment to the second structural member. A pin-type fastener ensures that the joint remains intact when tensile forces to the cord are absent.
    Type: Grant
    Filed: February 23, 2014
    Date of Patent: November 24, 2015
    Inventor: Dylan Pierre Neyme
  • Patent number: 9179979
    Abstract: A medical robot system includes a forceps arm provided with a forceps manipulator and a camera arm provided with an endoscope. The forceps manipulator and the endoscope are inserted into a living body through a common insertion implement. The system further includes an operating unit that generates a control signal to control the forceps manipulator and the forceps arm, a forceps motion control unit that controls motions of the forceps manipulator and the forceps arm according to the control signal from the operating unit, an endoscope motion control unit that controls motions of the endoscope and the camera arm, and an interference avoiding unit that controls an interference avoiding motion of the camera arm to avoid interference between the camera arm and the forceps arm while a visual point of the endoscope is kept constant.
    Type: Grant
    Filed: March 25, 2011
    Date of Patent: November 10, 2015
    Assignee: Karl Storz GmbH & Co. KG
    Inventor: Makoto Jinno
  • Patent number: 9162356
    Abstract: A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: October 20, 2015
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Jung Ho Seo, Woo Sung Yang
  • Publication number: 20150139756
    Abstract: According to one embodiment, a transport assist apparatus includes a backpack, a straight-move support unit and a drive unit. The straight-move support unit is connected to the backpack and includes a support member configured to be driven so as to make an end of the support member contact a floor surface. The drive unit is connected to the backpack and the straight-move support unit and drives the support member in a direction of moving the end toward the floor surface in accordance with lifting up of at least one of a target person and a target object by a user, or in a direction of moving the end away from the floor surface in accordance with setting down of the at least one of the target person and the target object by the user.
    Type: Application
    Filed: November 20, 2014
    Publication date: May 21, 2015
    Inventors: Daisuke Yamamoto, Atsushi Sadamoto, Hideichi Nakamoto, Junya Tanaka, Haruna Eto
  • Patent number: 8840680
    Abstract: Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.
    Type: Grant
    Filed: August 20, 2010
    Date of Patent: September 23, 2014
    Assignee: Vanderbilt University
    Inventors: Michael Goldfarb, Skyler Ashton Dalley, Huseyin Atakan Varol, Tuomas Emory Wiste
  • Publication number: 20140277740
    Abstract: The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.
    Type: Application
    Filed: March 14, 2014
    Publication date: September 18, 2014
    Applicant: ELYTRA TECHNOLOGIES, LLC
    Inventor: Thomas L. Adelman
  • 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: 8442669
    Abstract: A self-feeding device for a user and method operating is provided. The self-feeding device includes a base assembly having a housing with an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall. A plate is disposed on the upper housing wall of the base assembly, and the plate includes a food compartment having a food item located therein. A feed arm assembly located on the base assembly includes an arm moveable with a predetermined degree of freedom, and a feeding utensil is coupled to the feed arm. A controller actuates the feed arm assembly to obtain the food/drink item from the food compartment via the feed utensil, and to transfer the food item to the user. The methodology includes software to control operation of the self-feeding device within a STORAGE mode, a SELECT mode, and a RETRIEVE food and drink mode.
    Type: Grant
    Filed: June 21, 2012
    Date of Patent: May 14, 2013
    Inventor: Jonathan P. Dekar
  • Publication number: 20120041595
    Abstract: 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: Application
    Filed: August 11, 2011
    Publication date: February 16, 2012
    Inventors: Daniel Greeley, Daniel Fourie, Bryce Lee, Yevgeniy Kozlenko, David Wilkinson, William T. Townsend
  • Patent number: 7950710
    Abstract: A robot includes a base unit, at least two link mechanisms arranged on the base unit, drive units capable of bending and expanding the link mechanisms, and a control unit controlling the drive units. At least one drive unit has a drive force larger than those of the other drive units, and the other drive units are passively displaced by external forces larger than their own drive forces.
    Type: Grant
    Filed: September 17, 2009
    Date of Patent: May 31, 2011
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Kenji Matsukuma, Takayuki Nakamura, Kazuhiko Yokoyama, Kazuhiro Fukudome
  • Patent number: 7862522
    Abstract: A Sensor glove is an instrument, in the same way that a piano is an instrument. The Sensor glove is purchased and the owner then learns to use it and the sensors therein to develop the performance of a sound, character or model, or to “conduct” or “play” the sensor movements and experience the response of the model in real time. Several performers with a number of the Sensor glove can control over 200 motors or hundreds of control points on a character at one time, manipulate audio data, or computer images etc. The characteristics of the sensors on the gloves can be adjusted to the needs and demands of the wearer or the many performer and wearers in those venues where multiple performers are used with many gloves to control or produce the motions and sounds of many distinct characters in a screen play.
    Type: Grant
    Filed: August 8, 2006
    Date of Patent: January 4, 2011
    Inventors: David Barclay, Glenn Silver, Johan Versteegh, Bruce Lanoil
  • Patent number: 7810791
    Abstract: A servo motor driven hoist includes a float mode in which a load is raised lowered in response to manually applied forces on the load exerted by an operator in which forces applied to the load as a result of accelerations of the load generated by hoist movement of said load are compensated for by sensing the accelerations and computing the forces resulting therefrom, and subtracting those forces from the sensed total magnitude of forces acting on the load to eliminate the effects of dynamically generated forces when in the float mode.
    Type: Grant
    Filed: July 16, 2008
    Date of Patent: October 12, 2010
    Inventor: Ryan DeVos
  • Publication number: 20100129181
    Abstract: A lens handler includes a first arm and a second arm, the first and second arms of the lens handler being moveable relative to each other to define an open position, a closed position, and a lens handling position. The lens handler also includes a power source electrically connected to the first and second arms and configured to pass an electrical current between the first and second arms when the arms are in the closed position.
    Type: Application
    Filed: November 21, 2008
    Publication date: May 27, 2010
    Inventors: Joseph D. Blasiak, Travis M. Fisher
  • Publication number: 20100080669
    Abstract: An input device for a robotic surgical instrument includes an operator input on a handle that is rotatably supported by a supporting link structure. A primary winding of a rotary transformer is fixed to the supporting link structure and connected to an electric power source. A secondary winding is fixed to the handle. An axial passage extends through the primary and secondary windings. An optical data transmitter is connected to the operator input to transmit data from the operator input through the axial passage. The secondary transformer winding provides power to the optical data transmitter without physical contact. An optical data receiver fixed to the supporting link structure receives data from the optical data transmitter transmitted through the axial passage in the rotary transformer without physical contact. The transmission of power and data without physical contact allows the handle to rotate continuously.
    Type: Application
    Filed: September 30, 2008
    Publication date: April 1, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Gerard J. Labonville, Alan E. Loh, David W. Bailey, Brett J. Lockyer
  • Publication number: 20090324366
    Abstract: Fluid pressures of a plurality of compressible fluid pressure actuators that drive a joint through antagonistic driving are controlled by a main-fluid pressure control device, and at the time of applying quick brake upon collision, a proximate fluid pressure high-speed control device, disposed closely to the actuators, carries out pressure application or pressure reduction at a high speed on the actuators so as to be quickly accelerated or decelerated.
    Type: Application
    Filed: January 8, 2008
    Publication date: December 31, 2009
    Inventor: Yasunao Okazaki
  • Patent number: 7504602
    Abstract: The invention relates to a suspended control device (20) which is suspended by means of a control line (1, 24) connected to a unit to be controlled (21). Said suspended control device is especially a control switch or a suspended push-button switch for controlling hoisting equipment, the control line (1, 24) comprising electrical lines (2) for transmitting control signals, and a traction relief element (22) which is supported at the top, on the unit (21), and used to absorb weight and tractive forces. The aim of the invention is to provide a suspended control device (20) whereby the length of the control line (1, 24) can be easily changed. To this end, a storage element for receiving and releasing a defined length of the electrical lines (2) is provided behind the region wherein the traction relief element (22) is supported, seen in the direction of the unit (21) from the suspended control device (20).
    Type: Grant
    Filed: June 30, 2003
    Date of Patent: March 17, 2009
    Assignee: Demag Cranes & Components GmbH
    Inventors: Michael Röhr, Udo Gersemsky, Wolfgang Krebs, Anton Münzebrock, Rüdiger Ostholt, Giuliano Persico, Erik Appel, Oliver Ullrich, Burkhard Hasenack, Holger Freitag, Jürgen Heun
  • Publication number: 20090035097
    Abstract: A remotely operable machine (1) comprises a manipulator arm (17), a machine body (3), and a support (5). The support is disposed between the machine body and the manipulator arm for coupling the arm to the body. The support is movable from one position (D) to another (E) relative to said body so as to provide for variation or extension of the reach of the manipulator arm. The support may be provided by a linkage having an attachment (15) for pivotally supporting the arm, the attachment being pivotally coupled to an extension arm (19) at one end thereof, the extension arm being pivotally coupled to the machine body at its other end. Alternatively, a track assembly for facilitating movement of the support on the machine body may be provided. The track assembly or linkage are configured to allow deployment of the support on the ground adjacent to said body.
    Type: Application
    Filed: November 10, 2006
    Publication date: February 5, 2009
    Inventor: Elgan Williams Loane
  • Publication number: 20090003973
    Abstract: A wafer transfer robot, having a robot hand which transfers a wafer in an improved driving manner by changing a driving force transfer device of the robot hand, is disclosed. The wafer transfer robot having at least robot hand to transfer a wafer includes an arm frame supported on an elevating shaft to vertically move the robot hand, wherein the robot hand includes a first robot arm rotatably supported on the arm frame, a second robot arm rotatably supported at an end of the first robot arm, a first driving device which rotates the first robot arm to rotate the robot hand, a second driving device which rotates the second robot arm to extend and contract the robot hand in a radial direction with the first driving device, and a controller which operates the first driving device and stops the second driving device when the robot hand is rotated, and operates both the first driving device and the second driving device at the same time when the robot hand is extended and contracted in a radial direction.
    Type: Application
    Filed: March 27, 2008
    Publication date: January 1, 2009
    Applicant: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Yong Won Choi, Kyung Won Kang
  • Publication number: 20080247844
    Abstract: The invention concerns an industrial robot (4) comprising a machining tool (2) attached to one hand (3) of the robot, designed to perform a hydraulic-driven movement relative to the hand (3) and connected therefor to a hydraulic unit (10). The hydraulic unit (10) is placed directly on a mobile part of the robot, in particular directly on the robot hand (3). Therefore there is no more need for hydraulic supply lines along the arm of the robot. Further, when the robot hand (3) changes tool, no separation of hydraulic lines is required. The machining tool (2) is in particular a device for placing blind rivets, thereby enabling an entirely automated process for placing blind rivets.
    Type: Application
    Filed: May 21, 2007
    Publication date: October 9, 2008
    Inventors: Gerd Hartrampf, Christian Bohner, Klaus Dehlke
  • Publication number: 20080232932
    Abstract: A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint.
    Type: Application
    Filed: May 30, 2008
    Publication date: September 25, 2008
    Applicant: KABUSHIKI KAISHA TOSHIBA
    Inventor: Makoto JINNO
  • Patent number: 7422709
    Abstract: An electromagnetic rheological (“EMR”) fluid (18) broadly includes a conducting medium (22) and a plurality of micronparticles (24) suspended in the medium (22). Each of the micronparticles (24) includes a magnetically permeable core (26), an electrically insulating coating (28) surrounding the core (26), and a conductive winding (30) at least partially wound around the core (26) so that the coating (28) is disposed between the winding (30) and the core (26). An apparatus (10) constructed in accordance with a preferred embodiment of the present invention broadly includes a deformable membrane (12), a pair of polar opposed plates (14 and 16) coupled to the membrane (12), the EMR fluid (18) filling the membrane (12) and being in communication with a current source (20). Current flowing through adjacent windings (30) induces magnetic fields in the corresponding micronparticles (24) that mutually draw the adjacent micronparticles (30) causing them to move together into a north pole-south pole alignment.
    Type: Grant
    Filed: May 23, 2005
    Date of Patent: September 9, 2008
    Inventor: Crosby Gernon
  • Patent number: 7410338
    Abstract: The invention relates to an arm exoskeleton comprising a moving system of joints placed in parallel with the joints of the human arm, the exoskeleton comprising a shoulder exoskeleton, an elbow exoskeleton, and a wrist exoskeleton. In all, the exoskeleton has sixteen joints providing sixteen degrees of freedom. A support worn on the torso of a human operator comprises a rigid front plate and a rigid back plate. The shoulder exoskeleton has its proximal end fixed to the front plate, whereby the front plate provides a fixed reference for all movements of the exoskeleton, and the wrist exoskeleton is fixed to a rigid glove worn on the hand of the operator. Active joints are controlled by flexible cable tendons bridging the exoskeleton, said tendons themselves being actuated by control units disposed on the rigid back plate. Inflatable cushions prevent the wrist exoskeleton and the shoulder exoskeleton from moving relative to the arm of the operator.
    Type: Grant
    Filed: May 22, 2003
    Date of Patent: August 12, 2008
    Assignee: Organisation Intergouvernementale Dite Agence Spatiale Europeenne
    Inventors: André Schiele, Gianfranco Visentin
  • Patent number: 7347100
    Abstract: A force detection device of the present invention includes a handle to be given an operation force by an operator, disposed on a support reciprocatably in a first axis direction along a forward/backward direction of the truck and a second axis direction orthogonal thereto. A pair of force detection parts capable of detecting only a force in the first axis direction is disposed on the support in a spaced-apart relationship in the second axis direction. A force propagation body intervenes between both force detection parts and the handle. A part of the force propagation body passes through the inside of a gripped part of the handle. The force propagation body is coupled to the handle by a coupling axis extending in a third axis direction orthogonal to the first axis and second axis so as to be capable of relative rotation about the coupling axis.
    Type: Grant
    Filed: May 18, 2006
    Date of Patent: March 25, 2008
    Assignee: Sanyo Electric Co., Ltd.
    Inventors: Seiji Murakami, Naoto Tojo
  • Patent number: 7316165
    Abstract: A force detection device of the present invention is for detecting an operation force of an operator applied in a uniaxial direction, and includes a force receiving part for receiving the operation force, a force detection part placed on a support for detecting the uniaxial force, a force propagation body disposed reciprocatably along the uniaxial direction on the support for propagating the operation force received by the force receiving part to the force detection part, a guide provided on the support for guiding reciprocation of the force propagation body, a preload receiving part pivoted to the force propagation body and capable of swinging within a plane along the uniaxial direction, and a pair of coil springs coupled to both sides of the preload receiving part with a pivot axis thereof held therebetween for giving a preload to the force detection part.
    Type: Grant
    Filed: April 26, 2006
    Date of Patent: January 8, 2008
    Assignee: Sanyo Electric Co., Ltd.
    Inventors: Seiji Murakami, Naoto Tojo
  • Patent number: 6879880
    Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
    Type: Grant
    Filed: May 13, 2003
    Date of Patent: April 12, 2005
    Assignee: Intuitive Surgical, Inc.
    Inventors: William C. Nowlin, Gary S. Guthart, Robert G. Younge, Thomas G. Cooper, Craig Gerbi, Steven J. Blumenkranz, Dean F. Hoornaert
  • Patent number: 6853879
    Abstract: A medical master/slave manipulator is excellent in operability and capable of reducing burden on the operator. The medical master/slave manipulator includes a master unit provided with an operation control portion, a slave unit provided with a working device, an interlocking mechanism interlocking the slave unit with the master unit, an orientation difference measuring mechanism for measuring the orientation difference between the orientation of the master unit and that of the slave unit, and a control mechanism for controlling the slave unit to adjust the orientation of the slave unit to that of the master unit so that the orientation difference is reduced to zero in a transient master/slave operation mode in which an operation mode changes from an unrestricted operation mode to a master/slave operation mode.
    Type: Grant
    Filed: August 9, 2002
    Date of Patent: February 8, 2005
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Takamitsu Sunaoshi
  • Publication number: 20040028507
    Abstract: A robotically manipulable tool, such as a colony picking head or robotic pipetting tool, includes a processor on the tool. The processor may receive high level instruction from a robot controller and use the instruction to cause devices on the tool to perform desired functions. The processor can also store maintenance and other information regarding past use or repair of the tool. In addition, the processor may perform self-diagnostic tests on the tool or be used to perform functions during bench testing of the tool.
    Type: Application
    Filed: July 18, 2003
    Publication date: February 12, 2004
    Inventor: Peter Massaro
  • Patent number: 6386116
    Abstract: A robotic mechanism for an automated storage library having media cartridge storage cells each housing a media cartridge includes drive wheels operable to ride on tracks of the automated storage library to access the media cartridges in the media cartridge storage cells, a drive mechanism for driving the drive wheels, and a clutch mechanism for disconnecting the drive mechanism from the drive wheels to enable the robotic mechanism to be pushed by an external force along the tracks when the robotic mechanism is disabled and unable to move.
    Type: Grant
    Filed: June 23, 2000
    Date of Patent: May 14, 2002
    Assignee: Storage Technology Corporation
    Inventor: Timothy C. Ostwald
  • Patent number: 6332102
    Abstract: A robot control apparatus has keys for input/output control and an execution key for permitting execution therefor. A key can be allocated for a reservation sequence stored beforehand. When an operation program is taught for a robot, the reservation sequence allocated to the key can be executed when the key is pressed while the execution is pressed. Then, an operation program can be programmed more correctly by controlling the robot, and time for programming a sequence program is shortened. Execution of an input/output operation due to unintentional or erroneous operation is prevented. Two input/output control sequences can be allocated to one key.
    Type: Grant
    Filed: April 6, 1999
    Date of Patent: December 18, 2001
    Assignee: Matsushita, Electric Industrial Co., Ltd.
    Inventors: Hiroshi Nakajima, Shigeru Shimogama
  • Patent number: 6233504
    Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
    Type: Grant
    Filed: April 14, 1999
    Date of Patent: May 15, 2001
    Assignee: California Institute of Technology
    Inventors: Hari Das, Tim R. Ohm, Curtis D. Boswell, Robert D. Steele
  • Patent number: 6219589
    Abstract: A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves the operating member and varies a spring constant of the tunable spring to keep the force exerted by the manipulator member on an object at a desired level. The haptic interface allows simultaneous control over the maximum force exerted by the manipulator member as well as the transmission ratio between the operating member and the manipulator member. The remote manipulator may be a surgical grasper, for example. A tunable spring can be smaller and lighter than the high torque actuators used in some prior remote manipulators which provide force feedback.
    Type: Grant
    Filed: October 22, 1998
    Date of Patent: April 17, 2001
    Assignee: Simon Fraser University
    Inventors: Ali Faraz, Shahram Payandeh
  • Patent number: 6168634
    Abstract: A hydraulically energized magnetorheological replicant muscle tissue is provided as well as a system and method for using and controlling the same. The artificial muscle tissue is capable of causing motion, inducing force and enabling control thereof with life-like action. Numerous muscle tissue elements may be combined together to form a tissue capable of causing motion, inducing force and enabling control. Each muscle tissue element may receive fluid from a fluid supply. Control of fluid entering and exiting the muscle tissue element through valves may be effected using a central processing unit. As a result thereof, life-like action and artificial muscle tissue may be formed that replicates actual muscle tissue.
    Type: Grant
    Filed: March 25, 1999
    Date of Patent: January 2, 2001
    Inventor: Geoffrey W. Schmitz