Having Control Of Force Patents (Class 700/260)
  • Patent number: 10302519
    Abstract: Provided is a robot center-of-gravity display device including: a specification setting unit that sets specifications including the weights, center-of-gravity positions, and dimensions of components of respective shafts; a posture setting unit that sets position information of the respective shafts; a robot-image generating unit that generates a three-dimensional model image of the robot in a state where the respective shafts are located at the positions indicated by the position information, based on the set position information of the respective shafts and the specifications of the components; a center-of-gravity-position calculation unit that calculates the center-of-gravity position of the overall robot, based on the set position information of the respective shafts and the specifications of the components; an image combining unit that superimposes an indication showing the center of gravity of the overall robot on the three-dimensional model image at the calculated center-of-gravity position; and a displ
    Type: Grant
    Filed: June 21, 2017
    Date of Patent: May 28, 2019
    Assignee: FANUC CORPORATION
    Inventor: Tomonori Arai
  • Patent number: 10296675
    Abstract: A simulation system to determine an optimal trajectory path for a robot with an attached implement includes a trajectory simulator which provides a simulated trajectory path for an implement, an implement model database which comprises motion data of the implement, and a logger that associates a time stamp of the implement's motion during the simulated trajectory path to generate logger data. A profile is determined by the logger data received from the logger which identifies implement motion that exceeds predetermined thresholds, and a tuner adjusts the simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.
    Type: Grant
    Filed: December 30, 2015
    Date of Patent: May 21, 2019
    Assignee: ABB Schweiz AG
    Inventors: Xiongzi Li, Steinar Riveland, Oeyvind A. Landsnes, Christoffer Apneseth, Masao Hara, Jianjun Wang
  • Patent number: 10213357
    Abstract: An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: February 26, 2019
    Assignee: Ekso Bionics, Inc.
    Inventors: Nathan Harding, Adam Zoss
  • Patent number: 10195742
    Abstract: A driving apparatus includes a joint, a first support member connected to the joint and a second support member connected to the joint. A first elastic body which is inflatable or deflatable is provided along the joint, the first support member and the second support member. A support provided with a first end portion and a second end portion opposite to the first end portion is placed between the first support member and the first elastic body, and the first end portion is connected to the joint. And, a second elastic body which is inflatable or deflatable is inserted between the support and the first support member.
    Type: Grant
    Filed: September 12, 2016
    Date of Patent: February 5, 2019
    Assignee: KABUSHIKI KAISHA TOSHIBA
    Inventor: Junya Tanaka
  • Patent number: 10189213
    Abstract: In a method and apparatus for producing fiber composite material components, a first web of the fiber composite material is applied to a mold by means of an application tool arranged on a positioning device. A height profile of the applied first web is measured by means of a height profile measuring sensor. During the application of a second web of the fiber composite material to the mold, a control device activates at least one drive motor of the positioning device depending on the measured height profile, so that application errors, such as overlapping of the webs, are avoided. The webs are applied in opposite application directions by rotating the application tool 180° relative to the positioning device upon a change in the application direction. Two height profile measuring sensors arranged next to one another on the application tool for measuring the height profile of the applied webs.
    Type: Grant
    Filed: November 18, 2011
    Date of Patent: January 29, 2019
    Assignee: Broetje-Automation GmbH
    Inventors: Bernhard Pause, Christian Boge
  • Patent number: 10179408
    Abstract: A cooperation robot for moving a bumper to a predetermined position of a vehicle in a vehicle production system includes: a multi-axis arm, a front end portion of which is connected to and a rear end portion of which is connected to a robot body so that the multi-axis arm is movably disposed to upper, lower, left and right sides on the basis of the robot body. The multi-axis arm is disposed to rotate the gripper. A force torque (FT) sensor is disposed between the multi-axis arm and the gripper and detects a direction of external force which is applied to the gripper and the bumper gripped by the gripper. An operator controls the multi-axis arm so that positions of the gripper and the bumper vary. A controller controls the operator according to the direction of the external force detected by the FT sensor when the multi-axis arm is in a stand-by condition to move the gripper in the direction the external force.
    Type: Grant
    Filed: June 9, 2016
    Date of Patent: January 15, 2019
    Assignee: Kia Motors Corporation
    Inventor: Hyun Soo Lee
  • Patent number: 10065312
    Abstract: The disclosure provides a robotic arm controller which determines a control parameter for at least one actuator comprising the robotic arm using a control equation having the general form Ax=b, where A is a transformation matrix A based on the geometry and Jacobian of the robotic arm, x is the control parameter x such as a torque vector at a specific joint, and b is the end effector parameter b which specifies a desired corrective state of the end effector. The methodology, by way of constructing and solving an unscented optimization problem, provides a solution to the Ax=b problem by perturbing at least one joint angle appearing in the Jacobian to generate a plurality of distributed joint angles, determining a control parameter x which minimizes an error function.
    Type: Grant
    Filed: July 13, 2016
    Date of Patent: September 4, 2018
    Assignee: The United States of America, as represented by the Secretary of the Navy
    Inventors: Isaac Michael Ross, Mark Karpenko, Ronald J. Proulx
  • Patent number: 9907619
    Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
    Type: Grant
    Filed: August 12, 2016
    Date of Patent: March 6, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Nitish Swarup
  • Patent number: 9844878
    Abstract: A method for controlling a robot device (500) having a movable manipulator and/or effector (400), according to which method a speed and/or direction of movement of the manipulator and/or effector (400) is monitored and adjusted as appropriate, taking into consideration medical parameters for injury and robot dynamics is provided. A robot device (500) for implementing such a method and to a computer program product for executing such a method.
    Type: Grant
    Filed: October 7, 2013
    Date of Patent: December 19, 2017
    Assignee: Deutsches Zentrum fuer Luft- und Raumfahrt e.V.
    Inventors: Sami Haddadin, Simon Haddadin
  • Patent number: 9815202
    Abstract: Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.
    Type: Grant
    Filed: July 7, 2015
    Date of Patent: November 14, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Tsutomu Osaka, Takahiro Ishikawa, Shunsuke Kawamura
  • Patent number: 9707680
    Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and one or more attributes of an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.
    Type: Grant
    Filed: May 28, 2015
    Date of Patent: July 18, 2017
    Assignee: X DEVELOPMENT LLC
    Inventors: Anthony Sean Jules, Johan Ulrich Lewin Jessen
  • Patent number: 9676099
    Abstract: A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.
    Type: Grant
    Filed: April 23, 2015
    Date of Patent: June 13, 2017
    Assignee: FANUC CORPORATION
    Inventors: Yukinobu Tsuchida, Teruki Kuroshita
  • Patent number: 9662791
    Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.
    Type: Grant
    Filed: January 29, 2016
    Date of Patent: May 30, 2017
    Assignee: Google Inc.
    Inventors: Alexander Douglas Perkins, Matthew Malchano, Shervin Talebinejad
  • Patent number: 9616565
    Abstract: A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.
    Type: Grant
    Filed: December 15, 2014
    Date of Patent: April 11, 2017
    Assignee: ABB Schweiz AG
    Inventors: Ingvar Jonsson, Stig Moberg, Sven Hanssen
  • Patent number: 9539059
    Abstract: Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.
    Type: Grant
    Filed: September 19, 2014
    Date of Patent: January 10, 2017
    Assignee: Sony Olympus Medical Solutions Inc.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Patent number: 9499218
    Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.
    Type: Grant
    Filed: December 30, 2014
    Date of Patent: November 22, 2016
    Assignee: Google Inc.
    Inventor: Benjamin Stephens
  • Patent number: 9478058
    Abstract: An object correcting method includes disposing multiple sample objects at different positions on a display screen, the sample objects having respective attributes characteristic thereof; obtaining the position of a point on the display screen specified by a user; changing the attribute of a target object by calculating an interpolated value of the attributes of the sample objects based on the positions at which the sample objects are disposed and the position of the point and replacing the value of at least one of the parameters of the attribute of the target object with the calculated interpolated value; and correcting the target object based on the changed attribute thereof.
    Type: Grant
    Filed: August 6, 2012
    Date of Patent: October 25, 2016
    Assignee: CELSYS, Inc.
    Inventors: Yosuke Kawakami, Shin Oohara, Daisuke Higuchi
  • Patent number: 9417151
    Abstract: In one embodiment a method to determine a center of gravity of a three dimensional object comprises positioning the object on a test platform in a first orientation, determining a position of the center of gravity along a first axis and a second axis when the object is in the first orientation, rotating the object with respect to a third axis which is orthogonal to the first axis and the second axis, determining a position of the center of gravity along at least one of the first axis or the second axis when the object is in the second orientation, and using a change in the position of the center of gravity along the at least one of the first axis or the second axis when the object is in the second orientation to determine a position of the center of gravity along the third axis. Other embodiments may be described.
    Type: Grant
    Filed: November 28, 2011
    Date of Patent: August 16, 2016
    Assignee: The Boeing Company
    Inventors: Robert D. Fordice, Daniel J. Wright, Donald G. Morris, Nathan A. Fabro
  • Patent number: 9402688
    Abstract: A surgical robot system and a control method thereof include a slave device and a master device to control motion of the slave device. The surgical robot system further includes a monitoring device that inspects a signal transmitted within the system in real time to stop motion of the slave device if an abnormal signal is detected.
    Type: Grant
    Filed: January 23, 2014
    Date of Patent: August 2, 2016
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Seung Ki Min, Kyung Shik Roh
  • Patent number: 9403273
    Abstract: A method of training a robot to autonomously execute a robotic task includes moving an end effector through multiple states of a predetermined robotic task to demonstrate the task to the robot in a set of n training demonstrations. The method includes measuring training data, including at least the linear force and the torque via a force-torque sensor while moving the end effector through the multiple states. Key features are extracted from the training data, which is segmented into a time sequence of control primitives. Transitions between adjacent segments of the time sequence are identified. During autonomous execution of the same task, a controller detects the transitions and automatically switches between control modes. A robotic system includes a robot, force-torque sensor, and a controller programmed to execute the method.
    Type: Grant
    Filed: May 23, 2014
    Date of Patent: August 2, 2016
    Assignee: GM Global Technology Operations LLC
    Inventors: David W. Payton, Ryan M. Uhlenbrock, Li Yang Ku
  • Patent number: 9387045
    Abstract: A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical advantage of the surgical instrument end effector.
    Type: Grant
    Filed: May 13, 2014
    Date of Patent: July 12, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Michael Turner
  • Patent number: 9375284
    Abstract: Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.
    Type: Grant
    Filed: March 18, 2014
    Date of Patent: June 28, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Arjang Hourtash
  • Patent number: 9375838
    Abstract: A grip apparatus includes a robot hand including plural fingers and pressure sensitive conductive rubber provided to the finger and configured to output a detection signal equivalent to acting force. The pressure sensitive conductive rubber is covered by a cover member. The grip apparatus also includes a control unit configured to cause the plural fingers to perform an opening or closing operation and compare a detection value based on the detection signal from the pressure sensitive conductive rubber with a threshold to determine whether the robot hand grips the work or releases the work. During a period from a time when the closing operation is started until a time when the fingers contacts the work, the control unit samples the detection signal of the pressure sensitive conductive rubber and sets the threshold as a value higher than a detection value at a time of this sampling.
    Type: Grant
    Filed: November 28, 2012
    Date of Patent: June 28, 2016
    Assignee: Canon Kabushiki Kaisha
    Inventor: Hitoshi Suzuki
  • Patent number: 9372111
    Abstract: A method of designing and manufacturing an acoustic sensor having a high degree of directivity is disclosed. The sensor includes a rotatable plate that is attached to a substrate with mounts. In one aspect the mounts are freely rotatable and the torque on the plate is measured using detectors disposed on springs that provide a resistance to rotation of the plate. In another aspect the plate is mounted to the substrate with mounts that torsionally deform during rotation of the plate. These detectors measure the torque on the plate according to the torsional deformation of the mounts. Methods of improving the signal to noise ratio of acoustic sensors having multiple detectors are also disclosed.
    Type: Grant
    Filed: August 12, 2013
    Date of Patent: June 21, 2016
    Assignee: Board of Regents, The University of Texas System
    Inventors: Neal A. Hall, Michael L. Kuntzman, Donghwan Kim, Nishshanka Hewa-Kasakarage
  • Patent number: 9314922
    Abstract: Manipulator systems and methods are provided in which there is at least one slave manipulator assembly and at least one controller assembly in communication with the slave manipulator assembly. The controller assembly is configured to remotely operate the slave manipulator assembly, and the slave manipulator assembly provides feedback information to the controller assembly. The feedback information may include a measure of an amount of resistance or movement on the slave manipulator assembly. The systems and methods may be configured to automatically switch between at least two modes of operation when an amount of resistance or movement on the slave manipulator assembly fluctuates above and below a threshold amount of resistance or movement on the slave manipulator assembly.
    Type: Grant
    Filed: February 7, 2014
    Date of Patent: April 19, 2016
    Assignee: Control Interfaces LLC
    Inventor: Daniel J. Dockter
  • Patent number: 9308648
    Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.
    Type: Grant
    Filed: July 24, 2014
    Date of Patent: April 12, 2016
    Assignee: Google Inc.
    Inventors: Alexander Douglas Perkins, Matthew Malchano, Shervin Talebinejad
  • Patent number: 9162358
    Abstract: A robotic device for providing assistance in manipulation, including a base having a movable segment mounted thereon in association with a motor-drive mechanism connected to a control unit. The segment having an end portion provided with a member for holding an element to be manipulated and a handle for enabling the end portion to be manipulated by an operator. The control unit is connected to a detection mechanism for detecting an external force applied on the end portion and arranged to control the motor-drive mechanism as a function of an amplification factor for amplifying the detected force and servo-control gains. The control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify the amplification factor and the servo-control gains as a function of the detected grip force.
    Type: Grant
    Filed: June 29, 2011
    Date of Patent: October 20, 2015
    Assignee: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
    Inventors: Franck Geffard, Xavier Lamy
  • Patent number: 9120222
    Abstract: The invention relates to collaborative robotic equipment comprising a supporting structure supporting an arm that can be moved along at least one axis and the end of which is equipped with a tool, wherein the arm comprises a first horizontal portion, movable on a vertical axis and connected to the supporting structure by a first pivot, a second pivot providing the rotary connection of a second horizontal portion to the first portion, an end fitting providing connection between the second portion and a motorized tool-holding linear actuator which is fitted with a manual-control stick collaborating with a main force sensor to control the vertical movement of the tool and amplify the manual effort.
    Type: Grant
    Filed: June 1, 2011
    Date of Patent: September 1, 2015
    Assignee: ROBOTIQUES 3 DIMENSIONS
    Inventors: Serge Grygorowicz, Ludovic Surgot
  • Patent number: 9095978
    Abstract: A system including a memory having instructions causing a processor to perform operations, for planning a grasping-device approach to an object by a grasping device, a pre-grasp device position, and a pre-grasp device pose. The operations comprise obtaining input data including grasping-device data, object data, and environmental-constraint data, determining, based on the grasping-device data, a grasp volume model, determining a test approach vector, and determining, using the vector, the constraint data, and the model, whether approach vector modification is needed. The operations also include modifying, if modification is needed, the test approach, yielding a resulting approach vector, and determining, if modification is not needed, that the test approach is the resulting approach vector.
    Type: Grant
    Filed: December 6, 2013
    Date of Patent: August 4, 2015
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Jianying Shi, Gurdayal Singh Koonjul
  • Patent number: 9073207
    Abstract: A method of improving sensitivity of a robot which includes: a calculation step, an induction step and a conversion step. The calculation step calculates angular velocities of joints of a robot. The induction step determines induced accelerations at the end of the robot by converting the angular velocities of the joints into a velocity at the end of the robot, using a Jacobian matrix, and by differentiating the velocity. The conversion step determines forces at a middle portion of the robot by multiplying the induced accelerations at the middle portion of the robot by a weight of the robot, multiplies the forces by an enhancement ratio, and then converts results of the multiplication into necessary torque at the joints, using a Jacobian matrix.
    Type: Grant
    Filed: March 18, 2013
    Date of Patent: July 7, 2015
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Jung Ho Seo, Woo Sung Yang
  • Patent number: 9043029
    Abstract: A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint.
    Type: Grant
    Filed: November 10, 2011
    Date of Patent: May 26, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Kee Hong Seo
  • Patent number: 9037292
    Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.
    Type: Grant
    Filed: October 25, 2010
    Date of Patent: May 19, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Bok Man Lim, Kyung Shik Roh, San Lim, Myung Hee Kim
  • Patent number: 9037295
    Abstract: A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.
    Type: Grant
    Filed: March 6, 2009
    Date of Patent: May 19, 2015
    Assignee: Perception Raisonnement Action en Medecine
    Inventors: Antony Hodgson, Christopher Plaskos, Nikolai Hungr
  • Patent number: 9026250
    Abstract: A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
    Type: Grant
    Filed: August 17, 2011
    Date of Patent: May 5, 2015
    Assignee: Harris Corporation
    Inventors: Matthew D. Summer, Paul M. Bosscher, Laurance H. Davis, III
  • Publication number: 20150120058
    Abstract: A first finger portion and a second finger portion of an end effector are brought close to each other, and when the first finger portion is brought into contact with an object to be grasped, an arm is moved in a direction where the first finger portion is provided while the contact between the first finger portion and the object to be grasped is kept.
    Type: Application
    Filed: October 24, 2014
    Publication date: April 30, 2015
    Inventors: Nobuhiro KARITO, Takahiko NODA
  • Patent number: 9020642
    Abstract: A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processor that obtains a solution of a differential equation in force control as the correction value before the conversion processing, and a nonlinear convertor that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processor and outputs the obtained correction value after the conversion processing.
    Type: Grant
    Filed: January 16, 2013
    Date of Patent: April 28, 2015
    Assignee: Seiko Epson Corporation
    Inventor: Mitsuhiro Inazumi
  • Publication number: 20150112486
    Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
    Type: Application
    Filed: December 4, 2014
    Publication date: April 23, 2015
    Inventors: David Q. Larkin, Vincent Duindam
  • Patent number: 9014856
    Abstract: In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.
    Type: Grant
    Filed: November 13, 2012
    Date of Patent: April 21, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Scott Manzo, Nitish Swarup
  • Patent number: 9002518
    Abstract: In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.
    Type: Grant
    Filed: September 26, 2006
    Date of Patent: April 7, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Scott Manzo, Nitish Swarup
  • Patent number: 9002519
    Abstract: A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.
    Type: Grant
    Filed: March 12, 2013
    Date of Patent: April 7, 2015
    Assignee: JTEKT Corporation
    Inventors: Hiromichi Ohta, Yasuharu Mukai, Kazuya Numazaki
  • Patent number: 9002517
    Abstract: Method and system for telematic control of a slave device. Displacement of a user interface control is sensed with respect to a control direction. A first directional translation is performed to convert data specifying the control direction to data specifying a slave direction. The slave direction will generally be different from the control direction and defines a direction that the slave device should move in response to the physical displacement of the user interface. A second directional translation is performed to convert data specifying haptic sensor data to a haptic feedback direction. The haptic feedback direction will generally be different from the sensed direction and can define a direction of force to be generated by at least one component of the user interface. The first and second directional translation are determined based on a point-of-view of an imaging sensor.
    Type: Grant
    Filed: September 24, 2014
    Date of Patent: April 7, 2015
    Assignee: Harris Corporation
    Inventors: Paul M. Bosscher, Matthew D. Summer, Loran J. Wilkinson, William S. Bowman
  • Patent number: 8996169
    Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.
    Type: Grant
    Filed: December 29, 2011
    Date of Patent: March 31, 2015
    Assignee: MAKO Surgical Corp.
    Inventors: Chris Alan Lightcap, Hyosig Kang
  • Patent number: 8989929
    Abstract: A device for reducing damage to an electric vehicle powered by a trailing cable, the device including an electric sensor for determining the mobile equipment's position relative to a hazard, and an electric controller responsive to the electrical means for operating a motor to change the operation of the electric vehicle to reduce the likelihood of adverse effects to the trailing cable if the electric vehicle's position is near the hazard.
    Type: Grant
    Filed: January 22, 2010
    Date of Patent: March 24, 2015
    Assignee: Joy MM Delaware, Inc.
    Inventors: Terry M. Thomas, Douglas F. Anderson, Darin M. Sutton, David K. Herdle, Phillip E. Smith
  • Patent number: 8986233
    Abstract: A leg assist device having an abnormality management procedure which appropriately adapts to an abnormal situation is provided. The leg assist device is provided with a leg attachment and a controller. The leg attachment comprises upper and a lower links connected with a rotary joint, and an actuator. The upper link is to be attached to the upper leg of the user. The lower link is to be attached to the lower leg of the user. The actuator swings the lower link relative to the upper link. The controller outputs the commands so that the swing angle of the lower link follows a target trajectory. Further, the controller executes a first abnormality management process in which the controller shuts off torque transmission from the actuator to the user when the controller detects an abnormality before outputting the commands to the actuator.
    Type: Grant
    Filed: September 23, 2011
    Date of Patent: March 24, 2015
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Eisuke Aoki, Shuhei Manabe, Hitoshi Konosu, Masayuki Imaida, Issei Nakashima, Yasuhiro Ebihara
  • Patent number: 8989898
    Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.
    Type: Grant
    Filed: October 22, 2009
    Date of Patent: March 24, 2015
    Assignee: Electroimpact, Inc.
    Inventor: Russell C. DeVlieg
  • Patent number: 8983659
    Abstract: A robot system according to the embodiments includes a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand, and a robot control apparatus that controls the robot. The robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position.
    Type: Grant
    Filed: November 14, 2012
    Date of Patent: March 17, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Yoshiki Kimura
  • Publication number: 20150073597
    Abstract: A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots.
    Type: Application
    Filed: November 13, 2014
    Publication date: March 12, 2015
    Inventors: Kevin C. Olds, Russell H. Taylor
  • Publication number: 20150066051
    Abstract: A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.
    Type: Application
    Filed: July 16, 2014
    Publication date: March 5, 2015
    Inventors: Young Do KWON, Kee Hong SEO, Kyung Shik ROH
  • Patent number: 8972062
    Abstract: The invention relates to a method for mounting a component, which comprises an insertion part and a holding part, in an opening in a workpiece by means of an industrial robot, which has an end effector, which guides the component on the holding part thereof. The method according to the invention is implemented by causing the insertion part of the component to approach the opening by moving the industrial robot; increasing the process forces by means of the industrial robot, once the insertion part of the component has made contact with the workpiece, until a process force threshold is reached, wherein the process forces are stored particularly in the form of material stresses; increasing the flexibility of the industrial robot when the process force threshold is reached; and executing a passive centering movement of the industrial robot based upon the process forces that are released by a relaxation of the material.
    Type: Grant
    Filed: March 3, 2011
    Date of Patent: March 3, 2015
    Assignee: KUKA Laboratories GmbH
    Inventors: Gunter Schreiber, Michael Gerung
  • Publication number: 20150057803
    Abstract: Method and system for telematic control of a slave device. Displacement of a user interface control is sensed with respect to a control direction. A first directional translation is performed to convert data specifying the control direction to data specifying a slave direction. The slave direction will generally be different from the control direction and defines a direction that the slave device should move in response to the physical displacement of the user interface. A second directional translation is performed to convert data specifying haptic sensor data to a haptic feedback direction. The haptic feedback direction will generally be different from the sensed direction and can define a direction of force to be generated by at least one component of the user interface. The first and second directional translation are determined based on a point-of-view of an imaging sensor.
    Type: Application
    Filed: September 24, 2014
    Publication date: February 26, 2015
    Inventors: Paul M. Bosscher, Matthew D. Summer, Loran J. Wilkinson, William S. Bowman