Having Means To Transmit Feedback Signal From Manipulator Means To Hand, Finger, Or Arm Patents (Class 414/5)
  • 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
  • Patent number: 9375852
    Abstract: A rotational hydraulic joint may include an extension chamber and a retraction chamber. Each chamber may include an end cap and a piston that moves relative to the end cap. One or more ports may add and remove fluid from the chamber. The rotational hydraulic joint may rotate in a cyclical direction when fluid is added to the extension chamber and in a countercyclical direction when fluid is added to the retraction chamber. The chambers may each include a torus-shaped cavity. Bladders may prevent fluid from leaking out of the rotational hydraulic joint. Stationary and movable electrodes may be coupled to the end cap and piston respectively. A plurality of rotational hydraulic joints may be combined to create a compound joint.
    Type: Grant
    Filed: April 1, 2013
    Date of Patent: June 28, 2016
    Assignee: Quality Manufacturing Inc.
    Inventors: Jeffrey A. Rose, James Adam Rose, Stephen D. Rose, Raymond Cooper
  • Patent number: 9372534
    Abstract: The invention is an interactive wearable video game (1), in which one or more players interact with physical objects through physical actions/contact/physiological signals to control a video game. The apparatus includes a series of wireless electronic sensors (7 to 16) to be placed in the user's body/surrounding environment, detecting the user's input actions in real time—output result is visualized on a binocular see-through display glasses system (2). The invention allows for the players to move around by connecting with the physical space, and to use their full bodies to control the game, exercise and share interactions. It allows for the connection between both virtual and physical realities—mixed reality concept by augmenting the user's perceptions among the surrounding environment. Users can either communicate from maximum physical proximity through a Web connection. The invention is rechargeable by converting produced solar energy into electric energy.
    Type: Grant
    Filed: January 4, 2012
    Date of Patent: June 21, 2016
    Inventor: Marta Isabel Santos Paiva Ferraz da Conceicao
  • Patent number: 9317118
    Abstract: A system for simulating materials using touch surfaces includes a touch surface, an actuator and/or an temperature control device, and a control unit. The control unit controls the actuator or the temperature control device to cause at least a portion of the touch surface to simulate a material. Such control may include utilizing the actuator to vibrate the surface to simulate the tactile sensation of texture. Such control may also include utilizing the temperature control device (such as a Peltier device) to control the temperature of the surface in order to simulate the thermal conductivity of a material. In some cases, the temperature control may be performed utilizing a temperature sensor to adjust the temperature of the surface. In various cases, the vibration and/or temperature may be varied over time, such as in response to one or more touches detected using one or more touch sensors.
    Type: Grant
    Filed: October 22, 2013
    Date of Patent: April 19, 2016
    Assignee: Apple Inc.
    Inventor: Paul G. Puskarich
  • Patent number: 9273928
    Abstract: A device for cyclically operating a trigger of a firearm includes biasing means for biasing a finger applied to a trigger away from the trigger, and a contact switch coupled to the biasing means and configured to be disposed between the finger and the trigger. In response to the contact switch detecting contact between the finger and the trigger, the biasing means actuates to cyclically bias the finger away from the trigger.
    Type: Grant
    Filed: September 15, 2014
    Date of Patent: March 1, 2016
    Inventors: Steven K. Uhlmann, Thomas G. Kieran
  • Patent number: 9261896
    Abstract: A force sense presentation apparatus includes a main body, a first movable unit, and a first drive mechanism. The main body has a longitudinal direction in a first axis direction and includes a holding unit held by a user. The first movable unit is configured to cover at least a part of the holding unit and is capable of being displaced with respect to the main body in a second axis direction which intersects the first axis. The first drive mechanism is provided to the main body and configured to cause the first movable unit to be displaced in the second axis direction with respect to the main body to generate a moment about a third axis to the holding unit. The third axis intersects the first axis and the second axis.
    Type: Grant
    Filed: September 13, 2012
    Date of Patent: February 16, 2016
    Assignee: Sony Corporation
    Inventors: Kousuke Seki, Hideo Kawabe, Osamu Ito, Takeshi Maeda
  • Patent number: 9111424
    Abstract: A three-dimensional (3D) tactile feedback apparatus and method for implementing the same may include a tactile feedback providing unit which provides a 3D tactile feedback, in response to a motion input by a user, a position measuring unit which measures a position of the tactile feedback providing unit, and a movement controlling unit which controls a movement of the tactile feedback providing unit based on the position of the tactile feedback providing unit.
    Type: Grant
    Filed: January 22, 2013
    Date of Patent: August 18, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Soo Chul Lim, Hyung Kew Lee, Joon Ah Park, Bho Ram Lee, Hyun Jeong Lee, Seung Ju Han
  • Patent number: 9102052
    Abstract: A control system for an articulated manipulator arm, the manipulator arm having at least three degrees of freedom, the control system including a master controller moveable to replicate the at least three degrees of freedom of the manipulator arm; the control system determining the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm and controlling actuation of the manipulator arm so that the rate of movement of the manipulator arm in each of the at least three degrees of freedom is proportional to the rate of movement of the master controller in each direction replicating a degree of freedom of the manipulator arm.
    Type: Grant
    Filed: November 10, 2005
    Date of Patent: August 11, 2015
    Assignee: Forum Energy Technologies (UK) Limited
    Inventor: Nicholas Alexander Lawson
  • Patent number: 8922355
    Abstract: Embodiments described herein generally relate to haptic feedback devices. In some examples, a haptic feedback device is described. An example haptic feedback device may include a first layer including multiple discrete fluid chambers. The example haptic feedback device may also include a second layer coupled to the first layer and including multiple interconnected micro-chambers containing an electro-rheological fluid. The example haptic feedback device may also include multiple electrodes positioned on opposing first and second sides of the interconnected micro-chambers.
    Type: Grant
    Filed: January 13, 2011
    Date of Patent: December 30, 2014
    Assignee: Empire Technology Development LLC
    Inventor: Takahisa Kusuura
  • Patent number: 8800366
    Abstract: This invention relates to a robotic exoskeleton comprising mechanical linkages that couple to one or more selected joints of a limb of a subject. The robotic exoskeleton may be provided with means for obtaining data respecting angular position, torque, and/or acceleration of at least one of the joints or the links of the mechanical linkages, and may be used for assessing, studying, diagnosing a deficit, and/or treating an impairment in sensorimotor function of a limb of a subject.
    Type: Grant
    Filed: November 13, 2012
    Date of Patent: August 12, 2014
    Assignee: Queen's University at Kingston
    Inventors: Stephen H. Scott, Ian E. Brown, Stephen J. Ball
  • Patent number: 8770905
    Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.
    Type: Grant
    Filed: May 2, 2011
    Date of Patent: July 8, 2014
    Assignees: King Fahd University of Petroleum and Minerals, King Abdulazia City for Science and Technology
    Inventors: Mayez Al-Mouhamed, Nesar Merah
  • Patent number: 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: 8641782
    Abstract: A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.
    Type: Grant
    Filed: December 28, 2010
    Date of Patent: February 4, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Jeong Hun Kim, Young Bo Shim, Soo Sang Yang, Yong Jae Kim, Kwang Jun Kim
  • Patent number: 8570291
    Abstract: The present invention provides a technique for sensing and reproducing various feels, which a person gets discretely over a period of time, by time sequential sensing. A tactile processor includes: a movement measuring section for determining a status of contact between a person and an object; a physical measuring section for measuring a physical property value of the object; and a physical-psychological transformation section for generating a tactile feature quantity based on the physical property value that has been measured by the physical measuring section and on the weight of the physical property of an arbitrary object. The weight is variable according a status of contact between the person and the arbitrary object and is calculated based on not only a physical property value representing the status of contact between the person and the arbitrary object but also a tactile feature quantity representing a feel that the person gets when touching the arbitrary object.
    Type: Grant
    Filed: May 21, 2010
    Date of Patent: October 29, 2013
    Assignee: Panasonic Corporation
    Inventors: Hideto Motomura, Tetsu Suzuki, Yoshiyuki Okimoto
  • Patent number: 8368641
    Abstract: A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
    Type: Grant
    Filed: October 30, 2007
    Date of Patent: February 5, 2013
    Assignee: Immersion Corporation
    Inventors: Marc R. Tremblay, Mark H. Yim
  • Patent number: 8347710
    Abstract: This invention relates to a robotic exoskeleton comprising mechanical linkages that couple to one or more selected joints of a limb of a subject. The robotic exoskeleton may be provided with means for obtaining data respecting angular position, torque, and/or acceleration of at least one of the joints or the links of the mechanical linkages, and may be used for assessing, studying, diagnosing a deficit, and/or treating an impairment in sensorimotor function of a limb of a subject.
    Type: Grant
    Filed: May 1, 2008
    Date of Patent: January 8, 2013
    Assignee: Queen's University at Kingston
    Inventors: Stephen H. Scott, Ian E. Brown, Stephen J. Ball
  • Patent number: 8335591
    Abstract: A robot apparatus has a multi-link structure including a plurality of links and joints serving as link movable sections, and in which at least some of the links are driven by combination of position control and force control. The apparatus includes: position controller performing position control on the links, which are driven by position control and force control; position controller with force constraint placing the force control before the position control so as not to cause a magnitude of an external force to exceed a set value; force controller performing the force control on the links; and integrated force/position controller controlling driving of the joints by switching the position controller, the position controller with force constraint, and the force controller, and unifying the position control and the force control.
    Type: Grant
    Filed: September 9, 2008
    Date of Patent: December 18, 2012
    Assignee: Sony Corporation
    Inventor: Taro Takahashi
  • Patent number: 8281683
    Abstract: A remote manipulation arm comprising a master arm (5) mechanically separated from a slave arm (1) with the slave arm comprising a tubular segment and a manipulation tool 12 at one end thereof and further comprising an interface system including a control portion (7) and a mechanical power portion (8) for driving the slave arm (1) through a mechanical transmission (26,27) of the slave arm wherein the mechanical power portion (8) comprises a stationary motor, a stationary casing, a drum attached to the tubular segment and a transmission capable of rotating the tubular segment (3) and wherein the remote manipulation arm further comprises a winder (32) of electrical cables leading to control motors and a circular arc shaped part between the drum and a cylindrical portion of the stationary casing.
    Type: Grant
    Filed: February 25, 2005
    Date of Patent: October 9, 2012
    Assignee: Commissatiat a l'Energie Atomique
    Inventors: Philippe Garrec, Gérard Piolain
  • Patent number: 8277396
    Abstract: This invention relates to a method and apparatus for assessing proprioception in a subject. One embodiment of an apparatus of the invention comprises two articulating members attachable to a pair of limbs of a subject, and provides data relating to geometry and/or location and/or motion of each limb in 2- or 3-dimensional space. The apparatus may include means for monitoring gaze direction. The apparatus may comprise a robotic linkage. One embodiment of the method comprises obtaining data relating to the geometry and/or location and/or motion of the limbs, or portions thereof, of a subject as the subject performs a matching task. Another embodiment comprises obtaining data relating to the location of a limb of a subject, together with data relating to gaze direction as the subject looks toward the perceived location of limb.
    Type: Grant
    Filed: November 2, 2007
    Date of Patent: October 2, 2012
    Assignee: Queen's University at Kingston
    Inventors: Stephen H. Scott, Ian E. Brown
  • Publication number: 20110206481
    Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.
    Type: Application
    Filed: May 2, 2011
    Publication date: August 25, 2011
    Applicants: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS, KING ABDULAZIZ CITY FOR SCIENCE AND TECHNOLOGY
    Inventors: MAYEZ AL-MOUHAMED, NESAR MERAH
  • Patent number: 7992910
    Abstract: A robot structure, suited especially for minimally invasive surgery, comprises two robot elements interconnected by a hinge. Using a force transmission the movable robot element of said robot structure, notably comprising two gripping elements, can be moved. A sensor element is provided for picking up forces occurring. To reduce the influence of motional forces, said force transmission is connected with a base element of said sensor element such that motional forces transmitted by said force transmission element are supported at the base element.
    Type: Grant
    Filed: December 19, 2007
    Date of Patent: August 9, 2011
    Assignee: Deutsches Zentrum für Luft-und Raumfahrt eV
    Inventors: Ulrich Seibold, Ulrich Alexander Hagn, Matthias Sturm
  • Patent number: 7969416
    Abstract: A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
    Type: Grant
    Filed: October 30, 2007
    Date of Patent: June 28, 2011
    Assignee: Immersion Corporation
    Inventors: Marc R. Tremblay, Mark H. Yim
  • 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: 7832711
    Abstract: A control system comprising a force measuring means (3) for measuring the magnitude of the force acting on a lower part of the rope suspending a load, which force is caused by a force imposed on the load by an operator, the mass of the load, and an acceleration of the load; a first control means (4) having a first computing unit, the first computing unit computing a rotational direction and a velocity of a servomotor to be driven, based on the measured result from the force measuring means, and outputting a signal that corresponds to the measured result to the servomotor, a length measuring means for measuring the length of a rope (2) wound down from a hoist drum; a weight measuring means for measuring the weight of the load suspended from the rope; an angle measuring means for measuring the angle of the rope relative to a vertical plane when the operator laterally pushes the load; and a second control means having a second computing unit, the second computing unit computing the operation conditions for the c
    Type: Grant
    Filed: November 18, 2005
    Date of Patent: November 16, 2010
    Assignees: Sintokogio, Ltd., Toyohashi University of Technology
    Inventors: Takanori Miyoshi, Kazuhiko Terashima, Etsuzo Kawai
  • Patent number: 7755602
    Abstract: A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
    Type: Grant
    Filed: June 13, 2003
    Date of Patent: July 13, 2010
    Assignee: Immersion Corporation
    Inventors: Mark R. Tremblay, Mark H. Yim
  • Patent number: 7742036
    Abstract: A haptic device having a plurality of operational modes, including a first operational mode and a second operational mode is provided. The first operational mode is associated with a frequency range. The second operational mode is associated with a frequency range that is different from the frequency range of the first operational mode. A controller is coupled to the haptic device, and is configured to send the haptic device a plurality of control schemes. Each control scheme is uniquely associated with an operational mode from the plurality of operational modes.
    Type: Grant
    Filed: June 23, 2004
    Date of Patent: June 22, 2010
    Assignee: Immersion Corporation
    Inventors: Danny A. Grant, Kollin M. Tierling, Juan Manuel Cruz-Hernandez, Alex S. Goldenberg
  • Publication number: 20100111645
    Abstract: The anthropomorphic force-reflective master arm controls a remote robotic arm and includes a plurality of rotatably joined mechanical links extending from a base to provide up to six degrees of freedom. Three of the link members are rotatably coupled to each other to form a handle, so that axes of rotation of each of the handle link members intersect at a user's hand position. Cable and pulley assemblies for the link joints are connected to their corresponding backdrive motors, the backdrive motors being disposed on the base to provide efficient transmission of forces experienced by the remote machine to the master arm handle.
    Type: Application
    Filed: November 4, 2008
    Publication date: May 6, 2010
    Inventors: Mayez Al-Mouhamed, Nesar Merah
  • Patent number: 7610108
    Abstract: A method for providing independent static and dynamic models in a prediction, control and optimization environment utilizes an independent static model (20) and an independent dynamic model (22). The static model (20) is a rigorous predictive model that is trained over a wide range of data, whereas the dynamic model (22) is trained over a narrow range of data. The gain K of the static model (20) is utilized to scale the gain k of the dynamic model (22). The forced dynamic portion of the model (22) referred to as the bi variables are scaled by the ratio of the gains K and k. The bi have a direct effect on the gain of a dynamic model (22). This is facilitated by a coefficient modification block (40). Thereafter, the difference between the new value input to the static model (20) and the prior steady-state value is utilized as an input to the dynamic model (22). The predicted dynamic output is then summed with the previous steady-state value to provide a predicted value Y.
    Type: Grant
    Filed: February 21, 2006
    Date of Patent: October 27, 2009
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Eugene Boe, Stephen Piche, Gregory D. Martin
  • Patent number: 7559533
    Abstract: An improved electric lift actuator for use on a variety of lift systems, includes various improvements that enable a universal design with interchangeable parts across several load ranges. The universal design further enables additional features and functionality (e.g., improved load cell location, improved operator sensing and electrical signal/air channel in operator pendant, improved reliability and reduced cost for operator force sensing, etc.) In addition the universal design is incorporated with a rotational drive assembly wherein the load sensing and wire rope slack sensing, as well as cable limits may be achieved using improved components and techniques—such as non-contact sensors, etc. Many of the improvements described are believed to reduce cost and improve the performance and expand the capacity and reliability of the actuator in addition to making the actuator a common design across several applications and load ranges.
    Type: Grant
    Filed: January 16, 2007
    Date of Patent: July 14, 2009
    Assignee: Gorbel, Inc.
    Inventors: James Stockmaster, Jim Alday, Brian Peets, Peter Liu, Robert DeVoria, John Pembroke, Blake Reese
  • Patent number: RE44396
    Abstract: Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.
    Type: Grant
    Filed: July 25, 2007
    Date of Patent: July 30, 2013
    Assignee: Immersion Corporation
    Inventors: Gerald P. Roston, Charles J. Jacobus