Having Means To Transmit Feedback Signal From Manipulator Means To Hand, Finger, Or Arm Patents (Class 414/5)
  • Patent number: 11132058
    Abstract: The disclosed system may include (1) a processor that generates an artificial environment that includes a virtual object, (2) a display that presents the artificial environment, (3) an input subsystem that detects tracks positioning of a body, and (4) a plurality of haptic actuators that are arranged to apply haptic feedback to a first plurality of locations on the body, where the processor (a) determines, based on the positioning of the body, a virtual contact of one of a second plurality of locations on the body with the virtual object, where the second plurality of locations is different from the first plurality of locations, and (b) activates, in response to the virtual contact, at least one of the plurality of haptic actuators based on a mapping of the second plurality of locations to the plurality of haptic actuators. Various other systems and methods are also disclosed.
    Type: Grant
    Filed: April 13, 2020
    Date of Patent: September 28, 2021
    Assignee: Facebook Technologies, LLC
    Inventors: Aakar Gupta, Majed Jamal Samad, Hrvoje Benko
  • Patent number: 11085842
    Abstract: A strain generation body and a force sensor equipped with the strain generation body, which can reduce a temperature error between strain sensors and reference resistors and the influence of external noise and which can improve detection accuracy, are provided. A strain generation body comprises a center part, an outer-peripheral part, connecting parts, a plurality of strain sensors, a plurality of reference resistors. The outer-peripheral part surrounds a periphery of the center part. The connecting parts connect the center part and the outer-peripheral part. The strain sensors are provided on main surfaces of the connecting parts. The reference resistors are provided on a main surface of the center part and constitute bridge circuits together with the strain sensors.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: August 10, 2021
    Assignee: NIDEC COPAL ELECTRONICS CORPORATION
    Inventors: Takashi Suzuki, Shigeaki Shingyochi, Toyohiko Akata, Subei Shun
  • Patent number: 11045269
    Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
    Type: Grant
    Filed: April 13, 2020
    Date of Patent: June 29, 2021
    Assignee: VICARIOUS SURGICAL INC.
    Inventors: Adam Sachs, Sammy Khalifa, Barry Stuart Greene
  • Patent number: 11034418
    Abstract: A system for monitoring a physical change of a marine structure includes a complex optical measuring instrument configured to detect a behavior and structural change of the marine structure by using at least one optical sensor by means of optical fiber Bragg grating.
    Type: Grant
    Filed: January 17, 2017
    Date of Patent: June 15, 2021
    Inventor: Michael MyungSub Lee
  • Patent number: 11026859
    Abstract: A system and method is provided for a wearable robotic upper body garment. In an embodiment, an upper body garment or apparatus comprises a shoulder saddle, one or more actuators, one or more flexible tendons, back torso section, front, torso section, torso wrap, and upper arm cuff. The shoulder saddle may be comprised of a yoke and one or more elevated shoulder sections. The one or more elevated should sections may be comprised of a first elevated shoulder section. In an embodiment, the back torso and front torso sections may be structurally connected to the yoke. In an embodiment, the one or more actuators may be structurally connected to either said back torso section or front torso section. In an embodiment, the one or more flexible tendons may be operationally connected to a predetermined one or more actuators and an upper arm cuff.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: June 8, 2021
    Assignee: United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Roger Rovekamp, Christopher Beck, Craig Cornwall
  • Patent number: 11019862
    Abstract: A grasp assist system includes a glove, finger saddles attached to a respective glove finger, one or more tendon actuators, and artificial tendons. The saddles have a rectangular body partially circumscribing a respective glove finger. Each saddle includes end lobes at opposite distal ends of the body. A first end of each tendon is secured to one of the tendon actuators. A second end forms a triple Brummel loop defining a main loop and two anchor loops. The anchor loops are disposed around the lobes. The saddles may form a rounded, double-headed arrow shape that is at least double the thickness of the body. The finger saddles are anisotropic, with different bending strengths depending on the axis, and may be constructed of thermoplastic polyurethane-coated nylon. Flexion and/or contact sensors and a controller, may be used. A method of connecting the tendon actuator to the finger is also disclosed.
    Type: Grant
    Filed: April 5, 2018
    Date of Patent: June 1, 2021
    Assignee: United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Emily R. McBryan, Jonathan M. Rogers, Benjamin J. Peters, Evan Laske
  • Patent number: 11009414
    Abstract: A sensor system includes a substrate with a reference plane, a plurality of kinesthetic-sense sensors disposed on the substrate, each of the plurality of kinesthetic-sense sensors being configured to output signals of three axial directions corresponding to an orthogonal-axis direction orthogonal to the reference plane and two axial directions parallel to the reference plane, respectively, according to an external force from an object received at a force receiving part, a control unit configured to determine whether or not a value of each of the signals is larger than a predetermined threshold, and calculate a pressing force in the orthogonal-axis direction or a moment around the orthogonal axis received from the object based on a result of the determination, and an output unit configured to output a result of the calculation.
    Type: Grant
    Filed: August 27, 2019
    Date of Patent: May 18, 2021
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Takahiro Nakayama, Motohiro Fujiyoshi, Yoshiyuki Hata, Yoshiteru Omura
  • Patent number: 10976826
    Abstract: A virtual reality system including a garment worn by a user, such as a glove, includes a jamming that jams movement of a portion of the user's body by increasing a rigidity of certain portions of the garment or by preventing a certain portion of the garment from expanding past a certain length. This allows the garment to simulate the physical sensation that occurs when the user touches an object. For example, to simulate the sensation of holding a coffee mug, the jamming mechanism prevents the user's fingers from curling after the user's fingers have reached a position equivalent to making physical contact with the coffee mug.
    Type: Grant
    Filed: November 25, 2019
    Date of Patent: April 13, 2021
    Assignee: Facebook Technologies, LLC
    Inventors: Sean Jason Keller, Tristan Thomas Trutna, Garett Andrew Ochs, Selso Luanava, Nicholas Roy Corson
  • Patent number: 10960543
    Abstract: This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more robotic device axes with one or more axes of a handheld control device. The robotic device may establish a connection between a robotic device and the handheld control device, wherein the robotic device is capable of moving along the one or more robotic device axes. The robotic device may receive a control signal comprising an indication to transition to a point in space along travel path, wherein the travel path is based on information relating to one or more locations and one or more orientations of the handheld control device. The robotic device may cause to transition an end effector of the robotic device to the point in space based on the indication in the control signal.
    Type: Grant
    Filed: May 30, 2018
    Date of Patent: March 30, 2021
    Assignee: Sisu Devices, LLC
    Inventors: Russell Aldridge, Marc Christenson, Isaac Jones, Jacob Robinson
  • Patent number: 10877557
    Abstract: This disclosure relates to a VR glove capable of measuring the movement of individual finger and thumb bones. The VR glove can include a plurality of inertial measurement units (IMUs) to track the movement of one or more finger and/or hand sections. The IMUs can include one or more motion sensors, such as a gyroscope and an accelerometer, for measuring the orientation, position, and velocity of objects (e.g., finger bones) that the IMU can be attached. An IMU can be located proximate to a finger (or thumb) bone and can measure the inertial motion of the corresponding bone. In some examples, the VR glove may include magnetometers to determine the direction of the geo-magnetic field. The VR glove can also include one or more other electronic components, such as a plurality of electrodes for sensing the heading, enabling capacitive touch, and/or contact sensing between finger tips.
    Type: Grant
    Filed: August 28, 2018
    Date of Patent: December 29, 2020
    Assignee: Apple Inc.
    Inventors: John Greer Elias, Andrew D. Sterian, Anuranjini Pragada, Daniel D. Sunshine, Jean Hsiang-Chun Lu, Lia Mieko Uesato, Storrs Townsend Hoen, Zebinah P. Masse
  • Patent number: 10860014
    Abstract: A system for interacting with a remote object comprising a wearable jacket for a user, two actuators for supporting arms of the user, motors for causing movements to at least one of a torso and the arms of the user, and sensors for measuring at least one of a force applied to the user and a position of the user, and a controller and data transmission device for communicating with the remote object.
    Type: Grant
    Filed: September 8, 2017
    Date of Patent: December 8, 2020
    Assignee: ECOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNE (EPFL)
    Inventors: Dario Floreano, Carine Rognon, Stefano Mintchev, Alice Concordel, David Atienza Alonso, Fabio Isidoro Tiberio Dell'Agnola
  • Patent number: 10852825
    Abstract: One example provides a wireless wearable device including a flexible wearable base configured to be worn at a location of a skeletal joint, an electrostatic clutch including a first electrode, the first electrode having two or more first electrode sheets, each first electrode sheet having a core, a conductive layer formed on the core, and a dielectric coating formed on the conductive layer, and also having a common conductor to which each of the first electrode sheets are connected, and a second electrode having two or more second electrode sheets arranged alternately with the first electrode sheets in a stacked arrangement, a tensioner coupled to the electrostatic clutch, a battery, and control circuitry coupled to the electrostatic clutch and configured to generate a control signal to control an electrostatic force between the two or more first electrode sheets and the two or more second electrode sheets.
    Type: Grant
    Filed: September 6, 2018
    Date of Patent: December 1, 2020
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Sang Ho Yoon, James David Holbery, Siyuan Ma, Woo Suk Lee
  • Patent number: 10842578
    Abstract: A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a tactile information generator configured to generate tactile information defined by a pressure distribution based on pressures detected by a plurality of pressure sensors and spatial positions of the plurality of pressure sensors, and output the tactile information, a manipulator configured to make an operator sense the pressure distribution according to the tactile information outputted from the tactile information generator, and when the operator manipulates the manipulator, output manipulating information according to the manipulation, and a robot controller configured to control operation of the hand of the robot according to the manipulating information outputted from the manipulator.
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: November 24, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Masayuki Kamon
  • Patent number: 10842693
    Abstract: The present disclosure illustrates a motorized mount with a plurality of degrees of freedom coupled to a seating system. The motorized mount assembly can include an attachment assembly configured to attach to a seating assembly. A vertical control assembly can be connected to the attachment assembly with an arm having a first end attached to vertical control assembly by a first hinge. A mounting assembly can be attached to a second end of the arm. The mounting assembly can configured to receive a personal computing device. A linear actuator may be attached to the vertical control assembly to raise and lower the arm and mounting assembly. A first motor can be configured to attach to the arm. A second motor can be configured to attach between the arm and the mounting assembly.
    Type: Grant
    Filed: June 13, 2018
    Date of Patent: November 24, 2020
    Inventors: Bradley S. Duerstock, Jeffrey Ackerman
  • Patent number: 10813822
    Abstract: An upper arm module of a wearable muscular strength assisting apparatus includes: a base part fixedly connected to a wearer's body; an upper arm part being configured such that a first end thereof is coupled to the base part to be rotatable about a fixed point, and being coupled to the wearer's upper arm to apply a rotational torque thereto; a first link configured such that a first end thereof is rotatably coupled to the base part at a point of application; a second link extending on a plane on which the upper arm part extends, and being rotatably coupled to a second end of the first link at a first point; a third link coupled to the second link at a second point to guide movement of the second point; and an elastic body generating an elastic force by deformation.
    Type: Grant
    Filed: November 21, 2019
    Date of Patent: October 27, 2020
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Ki Hyeon Bae, Hyun Seop Lim, Beom Su Kim, Ju Young Yoon, Kyu Jung Kim, Dong Jin Hyun
  • Patent number: 10795439
    Abstract: An interface device including: a first fixed portion and a first rotation portion which are fixed to a body; a first power portion which is connected to the first fixed portion and the first rotation portion and provides power to the first rotation portion; and a control unit which controls, when receiving a signal from an external device, the first power portion to control rotation of the first rotation portion, wherein the first power portion switches the first rotation portion to a free state of being rotatable by external force or a control state of being not rotatable by external force.
    Type: Grant
    Filed: January 19, 2017
    Date of Patent: October 6, 2020
    Assignee: REALGAM CO., LTD.
    Inventors: Yon Woo Chung, Bok Sung Oh, Yun Ho Lee
  • Patent number: 10723021
    Abstract: A manufacturing device includes a first hinge defining a first axis of rotation and having an arm connected thereto. A parallel link mechanism includes a second hinge connected to the arm and first and second links pivotably connecting the second hinge to an attachment such that the attachment is vertically movable relative to the second hinge. A nut runner is configured to rotatably drive a fastening tool about a third axis of rotation and is connected to the attachment. A first motor is provided on the first hinge and is configured to horizontally rotate the arm about the first axis of rotation. A second motor is provided on the second hinge and is configured to horizontally rotate the parallel link mechanism about a second axis of rotation that is parallel to the first and third axes of rotation.
    Type: Grant
    Filed: September 1, 2015
    Date of Patent: July 28, 2020
    Assignee: DAI-ICHI DENTSU LTD.
    Inventors: Ikuo Gonoi, Kazuhiro Hosokawa, Kenichi Nakamura
  • Patent number: 10689130
    Abstract: A transport arm for transporting objects comprising: an elongate beam coupled to a carriage, a first arm section movable along the elongate beam and a second arm section pivotally attached to the first arm section such that the second arm section an object engagement means for engaging an object to be transported arranged on the second arm section and an operator handle and a drive unit coupled to the first and the second arm section wherein the operator handle comprises a control means which is connected to the drive unit such that an operator by operating the control means may control the drive unit to pivot the second arm section.
    Type: Grant
    Filed: June 29, 2017
    Date of Patent: June 23, 2020
    Assignee: LIFTS ALL AB
    Inventors: Olov Nyqvist, Jimmy Froby
  • Patent number: 10613626
    Abstract: A kinesthetically enabled glove for providing kinesthetic feedback to a user are provided. The kinesthetically enabled glove incorporates various actuators configured to provide resistance to movement and/or to provide movement. Kinesthetic actuators employed include electroadhesive actuators, electromagnetic actuators, air-jamming actuators, and inertial mass actuators. The kinesthetic actuators are arranged in various portions of the kinesthetically enabled glove to provide force feedback at different locations. The kinesthetic glove may be employed during interaction with a computer system, providing a user with a more immersive experience.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: April 7, 2020
    Assignee: Immersion Corporation
    Inventor: Juan Manuel Cruz Hernandez
  • Patent number: 10585479
    Abstract: A control for a virtual reality (VR) system environment includes a portion and an additional portion each configured to contact different portions of a user's body. As one of the portions of the user's body moves towards the other potion of the user's body, the corresponding portion of the material contacting the moving portion of the user's body also moves towards the other portion of the material contacting the other portion of the user's body. Different positions of the portion and the additional portion relative to each other may correspond to different instructions that cause the VR system environment to perform different actions. In some embodiments, the control includes one or more feedback mechanisms providing the user with tactile feedback that simulates interactions with one or more virtual objects presented by the VR system environment.
    Type: Grant
    Filed: November 9, 2016
    Date of Patent: March 10, 2020
    Assignee: Facebook Technologies, LLC
    Inventors: Sean Jason Keller, Tristan Thomas Trutna, Garett Andrew Ochs, Selso Luanava, Nicholas Roy Corson, Laura Cristina Trutoiu
  • Patent number: 10571347
    Abstract: A pressure sensor (10) has a carrier chip (20) in and/or on which at least one sensor element (30) is integrated, the measuring signal of which depends on the mechanical stress in the carrier chip (20). The carrier chip (20) is connected on its back side in a flat and material-locking fashion to a solid body (50), the modulus of elasticity of which differs from the modulus of elasticity of the carrier chip (20). The carrier chip (20) has at least two independent and longitudinal grooves (80a, 80b) between which the sensor element (30a, 30b) is arranged. The pressure sensor has a bias voltage circuit (40) and is used in a common rail injection system.
    Type: Grant
    Filed: March 23, 2016
    Date of Patent: February 25, 2020
    Assignee: Micronas GmbH
    Inventor: Marc Baumann
  • Patent number: 10572014
    Abstract: An input interface configured to be worn on a portion of a user's body includes tendons coupled to various rigid cuffs in the input interface. The tendons include one or more activation mechanisms that, when activated, retract the tendons, which repositions a rigid cuff into a position relative to the user's body that restricts or prevents some form of movement of the user's body. Various activation mechanisms may be included in the tendons in various embodiments.
    Type: Grant
    Filed: October 4, 2016
    Date of Patent: February 25, 2020
    Assignee: Facebook Technologies, LLC
    Inventors: Sean Jason Keller, Tristan Thomas Trutna, Garett Andrew Ochs, Nicholas Roy Corson, Raymond King
  • Patent number: 10574363
    Abstract: A robot includes two links, a joint portion that connects the two links so as to be rotatable relative to each other, a control unit that controls an operation of the joint portion, and an optical transmission device that transmits an optical signal between the two links, and in which the optical transmission device includes an optical wiring that passes through the joint portion and allows the optical signal to propagate, and a light source unit that is disposed on one of the two links and emits the optical signal, and the control unit transmits a signal for adjusting intensity of the optical signal according to a bending amount of the joint portion to the optical transmission device.
    Type: Grant
    Filed: October 11, 2018
    Date of Patent: February 25, 2020
    Assignee: Seiko Epson Corporation
    Inventor: Junichi Okamoto
  • Patent number: 10534433
    Abstract: A haptic device is provided that includes a jamming assembly, anchored to the back of a user's hand, having (i) a jamming lever, (ii) an actuator to move the jamming lever from a first position to a second position different from the first position, and (iii) a slidable member configured to move back and forth in response to movement of a first of the user's fingers. The haptic device also includes an elongated element with opposing first and second end portions, where (i) the first end portion is anchored to a predefined portion of the user's first finger, and (ii) the second end portion is attached to an end portion of the slidable member. The jamming lever, when moved to the second position by the actuator, engages with a portion of the slidable member to prevent movement of the member, the elongated element, and the user's finger in a direction.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: January 14, 2020
    Assignee: FACEBOOK TECHNOLOGIES, LLC
    Inventors: Priyanshu Agarwal, Nicholas Colonnese
  • Patent number: 10528138
    Abstract: A virtual reality system including a garment worn by a user, such as a glove, includes a jamming that jams movement of a portion of the user's body by increasing a rigidity of certain portions of the garment or by preventing a certain portion of the garment from expanding past a certain length. This allows the garment to simulate the physical sensation that occurs when the user touches an object. For example, to simulate the sensation of holding a coffee mug, the jamming mechanism prevents the user's fingers from curling after the user's fingers have reached a position equivalent to making physical contact with the coffee mug.
    Type: Grant
    Filed: October 4, 2016
    Date of Patent: January 7, 2020
    Assignee: Facebook Technologies, LLC
    Inventors: Sean Jason Keller, Tristan Thomas Trutna, Garett Andrew Ochs, Selso Luanava, Nicholas Roy Corson
  • Patent number: 10507583
    Abstract: A robot control device includes a feature-point detecting unit that detects, from an image of an object acquired by a visual sensor, the positions of a plurality of feature points on the object in a predetermined cycle; a position/orientation calculating unit that updates, in the predetermined cycle, respective equations of motion of the plurality of feature points on the basis of the detected positions of the plurality of feature points and that calculates the position or orientation of the object on the basis of the detected positions of the plurality of feature points calculated from the updated equations of motion; and a robot-arm-movement control unit that controls the movement of a robot arm so as to follow the object, on the basis of the calculated position or orientation of the object.
    Type: Grant
    Filed: August 14, 2017
    Date of Patent: December 17, 2019
    Assignee: FANUC CORPORATION
    Inventors: Kaimeng Wang, Wenjie Chen
  • Patent number: 10493614
    Abstract: A tool includes a switch and a controller. The switch is configured to cause an electric component to operate. The switch includes a switch manipulation part and a load sensor. The switch manipulation part is configured to manipulate the switch. The load sensor is configured to detect a load corresponding to a pressing force according to a manipulation of the switch manipulation part. The controller is configured to correct an output corresponding to the load detected by the load sensor. The switch is configured to cause the electric component to operate based on the output corrected by the controller.
    Type: Grant
    Filed: November 17, 2016
    Date of Patent: December 3, 2019
    Assignee: MAX CO., LTD.
    Inventors: Tomohide Tsutsui, Yuusuke Ohsawa, Tomohiko Serita
  • Patent number: 10470828
    Abstract: The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices.
    Type: Grant
    Filed: March 12, 2015
    Date of Patent: November 12, 2019
    Assignee: Board of Regents of the University of Nebraska
    Inventors: Eric Markvicka, Tom Frederick, Jack Mondry, Joe Bartels, Shane Farritor
  • Patent number: 10353466
    Abstract: Embodiments herein disclose a haptic device that includes an elastic planar member. The haptic device also includes an inelastic planar member attached to the elastic planar member. Additional elastic and inelastic planar members may be attached to the inelastic planar member, with each elastic planar member attached to an inelastic planar member in an alternating fashion. An inflatable bladder is attached to a first surface of the inelastic planar member. Additional inflatable bladders may be attached to the additional inelastic planar members. The inflation of the inflatable bladder(s) causes a curvature in the inelastic planar member. This curvature increases the rigidity of the inelastic planar member.
    Type: Grant
    Filed: November 1, 2017
    Date of Patent: July 16, 2019
    Assignee: Facebook Technologies, LLC
    Inventors: Sean Jason Keller, David R. Perek, Tristan Thomas Trutna, Jack Lindsay, Nicholas Roy Corson, Raymond King
  • Patent number: 10222278
    Abstract: A directional force sensor and sensing system are described. The directional force sensor includes a leaf spring and one or more load sensors disposed about the leaf spring such that in response to a force applied to the leaf spring, the one or more load sensors provide a signal. A controller is coupled to receive signals from the one or more directional force sensors and determines characteristics of forces applied to the directional force sensors.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: March 5, 2019
    Assignee: Massachusetts Institute of Technology
    Inventors: Christine M. Weston, Joseph J. Lacirignola, David C. Maurer, David F. Aubin, Jr., Andrew P. Dumas, Ninoshka K. Singh, Jeffrey S. Palmer
  • Patent number: 10182876
    Abstract: A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: January 22, 2019
    Assignee: INTUITIBE SURGICAL OPERATIONS, INC.
    Inventors: Roman L. Devengenzo, Todd R. Solomon, Thomas G. Cooper
  • Patent number: 10071485
    Abstract: Provided is a hand controller device for detecting movement of one or more fingers of a user holding the device. The device includes: a support structure and opposing first and second finger supporting means, at least one of the finger supporting means being movably coupled to the support structure so that a movement of the movable supporting means increases or reduces an opening angle and/or distance between the opposing first and second finger supporting means; and a force and/or torque generation means that generates a force and/or torque between the first and second finger supporting means. The first and second finger supporting means include a finger detecting means to detect if the user's finger is in contact with a surface of the first and/or second finger supporting means, independently of whether or not the movable supporting means is moved.
    Type: Grant
    Filed: November 14, 2012
    Date of Patent: September 11, 2018
    Assignee: EUROPEAN SPACE AGENCY
    Inventors: André Schiele, Frank Van Der Hulst
  • Patent number: 10016893
    Abstract: A robot hand controlling method executes calculating a position and changing grip force when the grip force for gripping a work W is to be changed in a state that fingers are gripping the work W with first grip force. In the calculating the position, the hand controlling unit uses a correlation value indicating a relationship between the grip force of the fingers and position of fixing portions, the first grip force, and second grip force that is a target value of the grip force to calculate the position of the fixing portions in gripping the work W with the second grip force. In the changing the grip force, the hand controlling unit drives a motor by calculating a driving quantity of the motor necessary for moving the fingers to the calculated position of the fixing portions.
    Type: Grant
    Filed: January 20, 2016
    Date of Patent: July 10, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Masayuki Nagai
  • Patent number: 9925666
    Abstract: An operation system of a robot arm includes the robot arm disposed in a work box which is sealed, an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm, a control apparatus moving the robot arm based on the operation command from the operation apparatus, and a reaction force controller. Based on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches the limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: March 27, 2018
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Koji Kamiya
  • Patent number: 9877794
    Abstract: The present invention relates to a device developed for surgical interventions comprising (i) an inner end (1) guidable/steerable to the operation field, (ii) an outer end (3) operated by the user and (iii) a middle part (2) which connects both ends (1, 3) together. According to the main concept of the present invention, it further comprises force transmission units extending between the outer (3) and the inner (1) ends, and said force transmission units, the outer and the inner ends and the middle part (2) are designed to transfer the movements of the outer end (3) to the inner end (1) in an identical measure, as if the inner end (1) were the straight continuation of the outer end (3).
    Type: Grant
    Filed: September 2, 2010
    Date of Patent: January 30, 2018
    Inventor: Laszlo Csiky
  • Patent number: 9823093
    Abstract: A device is disclosed comprising: a first portion; a second portion; a hinge element between the first portion and the second portion; a magnetic sensor disposed on the first portion configured to measure an ambient magnetic field; a non-extensible element configured between the first portion and the second portion, and fixed with respect to the second portion; a magnetic element configured on a free end of the non-extensible element so that a rotation of the first portion with respect to the second portion causes relative motion between the magnetic element and the magnetic sensor, thereby causing a change in a magnetic field between the magnetic element and the magnetic sensor; wherein an angle of fold between the two portions is calculated based on the change in the magnetic field as determined by the magnetic sensor.
    Type: Grant
    Filed: November 6, 2015
    Date of Patent: November 21, 2017
    Assignee: MICROSOFT TECHNOLOGY LICENSING, LLC
    Inventors: Ilpo Kauhaniemi, Miika Rummukainen, Esa Määttä, Mikael Kontkanen
  • Patent number: 9804677
    Abstract: An apparatus for creating virtual joint sensation is provided. The apparatus includes: a controlling part for creating control signals for controlling respective user's joints by referring to information on torques to be applied to the respective user's joints, wherein the information on the torques is acquired by analyzing information on forces to be applied to the user's body contacting a virtual object; and a torque-applying part, including one or more torque-applying units worn on the respective user's joints, for giving the torques to the respective user's joints by using the control signals.
    Type: Grant
    Filed: February 4, 2016
    Date of Patent: October 31, 2017
    Assignees: Korea Institute of Science and Technology, Center Of Human-Centered Interaction For Coexistence
    Inventors: Do Ik Kim, Jung Min Park, Joong-Jae Lee
  • Patent number: 9782893
    Abstract: A robot includes a first arm and a second arm. The first arm and the second arm have different mechanisms from each other.
    Type: Grant
    Filed: June 9, 2014
    Date of Patent: October 10, 2017
    Assignee: Seiko Epson Corporation
    Inventors: Takema Yamazaki, Takashi Nagate
  • Patent number: 9770828
    Abstract: A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.
    Type: Grant
    Filed: September 28, 2012
    Date of Patent: September 26, 2017
    Assignee: THE JOHNS HOPKINS UNIVERSITY
    Inventors: Russell H. Taylor, Marcin A. Balicki, Peter Kazanzides, Xia Tian
  • Patent number: 9726517
    Abstract: A mechanical tracking system comprises a first set of linkage arms, a second set of linkage arms, a pair of shafts connected at a first end to one arm of the first set of linkage arms and at a second end to one arm of said second set of the linkage arms, wherein each arm of the second set of linkage arms is oriented out of phase with a respective arm of the first set of linkage arms, an attachment shaft positioned adjacent to the first set of linkage arms to accommodate a tool, and a sensor arrangement configured to sense the orientation and position of the attachment shaft.
    Type: Grant
    Filed: July 15, 2013
    Date of Patent: August 8, 2017
    Assignee: Centre for Imaging Technology Commercialization
    Inventors: Jeffrey Bax, Aaron Fenster
  • Patent number: 9669543
    Abstract: A grasp management system and corresponding method are described. In some examples, it is determined whether an end of arm tool of a robotic manipulator is capable of grasping an item in a first orientation and a second orientation. Information regarding success of the attempts may be retained in a database. A richness measure for each of the first orientation and the second orientation may be determined based upon a spatial variation of successful attempted grasps in the respective orientation.
    Type: Grant
    Filed: December 11, 2015
    Date of Patent: June 6, 2017
    Assignee: Amazon Technologies, Inc.
    Inventors: Andrew Stubbs, Andrew D. Marchese, John Gregory Longtine, Sarath Krishnaswamy, Moses Theodore Ort, Russell Charles Toris, Jacob Taylor Wachlin
  • Patent number: 9623566
    Abstract: A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, the master apparatus including a hand operation mechanism configured to be operated by a person for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism. The hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit. The opening and closing operation unit is connected to the slide unit, is capable of reciprocating with respect to the fixed unit, and is openable and closable with respect to the fixed unit. The master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit.
    Type: Grant
    Filed: November 4, 2014
    Date of Patent: April 18, 2017
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Yuko Tsusaka, Yudai Fudaba, Jun Ozawa
  • Patent number: 9595172
    Abstract: A data glove for generating tactile feedback at a finger upon interaction of the finger with an interaction element on an infrared touchscreen includes receiving elements for receiving the fingers of an operator and stimulators for generating tactile feedback attached on the finger-receiving elements. The date glove also includes elements for identifying the finger interacting with the infrared touchscreen and a signal generator for exciting the stimulator of the interacting finger upon successful actuation of an interaction element on the infrared touchscreen.
    Type: Grant
    Filed: September 4, 2012
    Date of Patent: March 14, 2017
    Assignee: Airbus Defence and Space GmbH
    Inventors: Christoph Moeller, Marco Opitz, Alexander Kostka, Nils Kornau
  • Patent number: 9579799
    Abstract: A robotic system and method performs tasks autonomously on real-world objects (RWOs) upon receipt of inputs from a virtual reality environment. A robotic actuator has tools to manipulate the RWOs, and a set of robot-specific instructions for actuating the tools. A first set of rules governs the RWOs, and sensors detect the presence of the RWOs. A virtual reality (VR) computer uses sensor data to generate a virtual world (VW) including virtual world objects (VWOs) representative of RWOs. A second set of rules governs the VWOs. A user manipulates the VWOs to generate a modified virtual world (MVW). A transformation engine captures differences between the VW and MVW, transforms the differences into inputs for the robotic actuator. An autonomous instruction engine receives the inputs to identify RWOs and combines the inputs with the first set of rules to generate combined instructions usable by the robotic actuator to manipulate RWOs autonomously.
    Type: Grant
    Filed: April 29, 2015
    Date of Patent: February 28, 2017
    Inventor: Coleman P. Parker
  • Patent number: 9573271
    Abstract: A wearable apparatus for assisting muscle strength includes: a base supported on an upper body of a wearer; a support member coupled to the base and spaced forward at a predetermined distance from the base; and a wire having a first end connected to an arm of the wearer across the support member and supporting the arm of the wearer by lifting the arm in a state of being supported by the support member when a second end of the wire is pulled.
    Type: Grant
    Filed: September 22, 2015
    Date of Patent: February 21, 2017
    Assignee: Hyundai Motor Company
    Inventor: Joo Young Chun
  • Patent number: 9545717
    Abstract: Disclosed herein is a control method of a robot hand including recognizing a pre-posture of user's fingers using a master device, changing the shape of the robot hand according to the recognized pre-posture, recognizing a gripping motion of the user's fingers using the master device, and executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.
    Type: Grant
    Filed: January 4, 2013
    Date of Patent: January 17, 2017
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Ji Young Kim, Kwang Kyu Lee, Young Do Kwon, Kyung Shik Roh
  • Patent number: 9533411
    Abstract: A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
    Type: Grant
    Filed: January 27, 2015
    Date of Patent: January 3, 2017
    Assignee: Sarcos LC
    Inventors: Stephen C. Jacobsen, Fraser M. Smith, Marc X. Olivier, Shane Stilson
  • Patent number: 9498888
    Abstract: The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.
    Type: Grant
    Filed: April 24, 2008
    Date of Patent: November 22, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David J. Danitz, Cameron D. Hinman
  • Patent number: 9419496
    Abstract: A return mechanism is achieved which requires only a small force for operation. In one aspect of the present invention, a return mechanism (10) includes: a first spring (1) that acts between an operating section (11) and a working section (12); and a second spring (2) that acts between the operating section (11) and a base (13). A direction in which the second spring acts when the operating section (11) is in a first position is not parallel to a direction in which the second spring (2) acts when the operating section (11) is in a second position. A component which, of a force of the second spring, acts in a direction of motion of the operating section (11) is smaller when the operating section (11) is in the second position than in the first position.
    Type: Grant
    Filed: May 30, 2014
    Date of Patent: August 16, 2016
    Assignee: OMRON Corporation
    Inventors: Yohei Tsukanaka, Satoru Nishimaki, Makoto Wada, Kazuyuki Tsukimori
  • Patent number: 9381641
    Abstract: A robot includes a base, a body connected to the base, a pair of articulated arms rotatably connected to the body, and a moving mechanism adapted to move the body toward or away from the base. Further, a relative positional relationship with a workbench is detected by moving the body with respect to the base using the moving mechanism while keeping the articulated arms in predetermined postures while facing the workbench, and then making the articulated arms contact the workbench.
    Type: Grant
    Filed: March 5, 2014
    Date of Patent: July 5, 2016
    Assignee: Seiko Epson Corporation
    Inventor: Masaru Takahashi