Tactile Sensor Patents (Class 901/33)
  • Patent number: 8918211
    Abstract: A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.
    Type: Grant
    Filed: February 12, 2010
    Date of Patent: December 23, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 8909374
    Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: December 9, 2014
    Assignee: Panasonic Corporation
    Inventors: Yudai Fudaba, Masaki Yamamoto, Yuko Tsusaka, Taichi Sato
  • Patent number: 8897918
    Abstract: A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.
    Type: Grant
    Filed: May 9, 2012
    Date of Patent: November 25, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Yoshinobu Goto, Kenjiro Murakami, Kazuto Yoshimura
  • Patent number: 8880223
    Abstract: A multisensory interface for a tele-robotic surgical control system. The invention allows the surgeon to use natural gestures and motions to control the actions of end effectors in the robotic surgical apparatus. Multiple feedback mechanisms are provided to allow the physician a more intuitive understanding of what is being controlled, along with a greater situational awareness. Prior art robotic end effectors are inserted into the patient through a small incision—as is already known in the art. The invention presents an improved method of controlling these effectors.
    Type: Grant
    Filed: July 16, 2012
    Date of Patent: November 4, 2014
    Assignee: Florida Institute for Human & Maching Cognition
    Inventors: Anil K. Raj, Adrien M. Moucheboeuf, Roger W. Carif, Timothy L. Hutcheson
  • Patent number: 8789568
    Abstract: Machines for manufacturing photovoltaic modules and methods for manufacturing photovoltaic modules can include tape handling components.
    Type: Grant
    Filed: August 5, 2011
    Date of Patent: July 29, 2014
    Assignee: First Solar, Inc.
    Inventor: Richard S. Malik, Jr.
  • Patent number: 8725431
    Abstract: A tactile sensor unit is provided, which includes a substrate; a coat formed on the substrate; and a cantilever beam structure having one end fixed to the substrate and curved to rise in such a direction that the other end of the cantilever beam structure is farther from the substrate than the one end. The tactile sensor unit detects a load applied to the coat. The cantilever beam structure is capable of resonating at a first resonant frequency and a second resonant frequency which is different from the first resonant frequency. The tactile sensor unit further includes a computation section for calculating a directional component of the load based on a change ratio of the first resonant frequency obtained in accordance with a change in the load and a change ratio of the second resonant frequency obtained in accordance with the change in the load.
    Type: Grant
    Filed: February 12, 2010
    Date of Patent: May 13, 2014
    Assignee: National University Corporation Kyoto Institute of Technology
    Inventor: Kaoru Yamashita
  • Patent number: 8672378
    Abstract: Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand device 1 includes a wrist portion 10, a base portion 20, and a plurality of finger mechanisms 30, the wrist portion 10 having therein a wrist sensor 12, at least one of the plurality of finger mechanisms 30 having therein a fingertip sensor 321, the base portion 20 including a frame-shaped frame portion 21, a tactile sensor 25, a first substrate 23 that controls outputs of the wrist sensor 12, the fingertip sensor 321, and the tactile sensor 25, and a second substrate 24, the first substrate 23 and the second substrate 24 being disposed opposite to each other so as to sandwich the frame portion 21 from the upper and lower.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: March 18, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yasuhiro Yamasaki, Hironori Waita, Satoki Matsumoto, Masayoshi Kokusho
  • Patent number: 8667860
    Abstract: An active gripper for a haptic device including a parallel kinematics structure providing at least three degrees of freedom including three translational degrees of freedom, wherein the gripper comprises a first contact surface being adapted for contact by a first portion of a hand of a user, a second contact surface being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion, and a moveable member arranged between the first contact surface and the second contact surface and being adapted to actively move the first contact surface and the second contact surface in relation to each other.
    Type: Grant
    Filed: June 26, 2007
    Date of Patent: March 11, 2014
    Assignee: Force Dimension S.a.r.l.
    Inventors: Patrick Helmer, Francois Conti, Sébastien Grange, Patrice Rouiller
  • Patent number: 8662552
    Abstract: A robotic finger that includes multiple phalanges, each phalange configured to be compliantly actuated. The robotic finger also includes compliant touch sensors that, in combination with the compliant actuation, provides the robotic finger with two levels of compliance. The two levels of compliance enable the robotic finger to gently conform to and manipulate objects.
    Type: Grant
    Filed: February 15, 2011
    Date of Patent: March 4, 2014
    Assignee: Massachusetts Institute of Technology
    Inventor: Eduardo R. Torres-Jara
  • 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: 8606403
    Abstract: Method and system for telematic control of a slave device (402) includes a hand control (101) type control interface which includes a hand grip (102) having an elongated body (202). One or more sensors (208) are provided for sensing a physical displacement of a trigger (212) disposed on the hand grip. An actuator or motor (206) is disposed in the hand grip that is responsive to a control signal from a control system (401) for dynamically controlling a force applied by the trigger to a user of the hand control interface.
    Type: Grant
    Filed: December 14, 2010
    Date of Patent: December 10, 2013
    Assignee: Harris Corporation
    Inventors: John B. Rust, Matthew D. Summer, Paul M. Bosscher, William S. Bowman, Loran J. Wilkinson
  • Patent number: 8588977
    Abstract: An apparatus in an example comprises a manipulator, a force sensor, a signal modulator, and a visual indicator. The manipulator is employed by a user. The force sensor determines a force signal from a force applied by the manipulator on a part of an environment of the user. The signal modulator is adjustable by the user to select a switch point for the visual indicator based on relative fragility of the part of the environment. The signal modulator employs the force signal and the switch point to control the visual indicator for the user.
    Type: Grant
    Filed: November 20, 2009
    Date of Patent: November 19, 2013
    Assignee: University of Utah Research Foundation
    Inventors: Erik Daniel Engeberg, Sanford G. Meek
  • Patent number: 8575892
    Abstract: Provided is a charging apparatus for a moving robot including a charging terminal that is connected to a terminal for charging a battery of the moving robot; a power supply unit that supplies a charging voltage for charging the battery of the moving robot; a power switching unit that outputs a detection signal, depending on whether a voltage is applied from the charging terminal or not, and switches a current flow between the power supply unit and the charging terminal in accordance with an input control signal; and a control unit that responds to the detection signal so as to output the control signal.
    Type: Grant
    Filed: October 25, 2007
    Date of Patent: November 5, 2013
    Assignee: LG Electronics Inc.
    Inventor: Young Gie Kim
  • Patent number: 8534730
    Abstract: An areal gripper for targeted picking-up, handling and putting down of objects. The areal gripper includes a foil and air-tight frame. The foil includes an elastically deformable, air-permeably perforated first layer, with a first outer surface and a first inner surface, and an elastically deformable, air-impermeable second layer with a second outer surface and a second inner surface. The first inner surface and the second inner surface face each other and are spaced from one another through individually arranged elastically deformable spacers formed between the first inner surface and the second inner surface. The frame laterally surrounds the foil and includes at least one elastically deformable frame section. The frame is connected to circumferential edges of the first layer and the second layer in a circumferentially air-tight manner. The foil or the frame includes at least one connection for a pressure supply to create an underpressure in the intermediate spaces.
    Type: Grant
    Filed: August 16, 2011
    Date of Patent: September 17, 2013
    Assignee: Deutsches Zentrum fur Luft- und Raumfahrt e.V. (DLR e.V.)
    Inventor: Michael Strohmayr
  • Patent number: 8504206
    Abstract: A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.
    Type: Grant
    Filed: March 29, 2012
    Date of Patent: August 6, 2013
    Assignee: Panasonic Corporation
    Inventors: Yudai Fudaba, Yuko Tsusaka, Taichi Sato
  • Patent number: 8463434
    Abstract: A system is capable of controlling the movements of a hand so as to ensure a further stable grasp of an object. In a state wherein an object is in contact with a plurality of finger mechanisms and a palm portion by being grasped by the hand, the load to be applied to the object from each of the plurality of finger mechanisms can be adjusted. Thus, the position of the load center on the palm portion can be displaced so as to be included in a target palm area. Further, the load to be applied to the palm portion can be adjusted so as to fall within a target load range.
    Type: Grant
    Filed: May 13, 2010
    Date of Patent: June 11, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventor: Kazuyuki Takahashi
  • Patent number: 8442678
    Abstract: A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
    Type: Grant
    Filed: December 4, 2009
    Date of Patent: May 14, 2013
    Assignees: Toyota Jidosha Kabushiki Kaisha, Waseda University
    Inventors: Kentaro Ichikawa, Shigeki Sugano, Kunihiro Iwamoto, Taisuke Sugaiwa, Hiroyasu Iwata
  • Patent number: 8433389
    Abstract: The invention relates to a surgery assistance system for guiding a surgical instrument. The surgical instrument (3) is fastened lo an arm system (10, 12, 14), the tip (S) of the surgical instrument (3) can be moved in a controlled manner by means of the arm system (10, 12, 14) in a Cartesian patient coordinate system (PKS), one of the three spatial axes (x, y, z) of the Cartesian patient coordinate system (PKS) extends through the surgical opening or the trocar point (T) receiving the surgical instrument (3). Advantageously, the angle of inclination (w) of the surgical instrument (3) is determined with respect to the spatial axis (z) of the Cartesian patent coordinate system (PKS) extending through the trocar point (T), the angle of inclination (w) so determined is compared with a predetermined set angle of inclination (ws) for the purpose of guiding the tip (S).
    Type: Grant
    Filed: March 20, 2009
    Date of Patent: April 30, 2013
    Inventors: Robert Geiger, Jürgen Scherr
  • Patent number: 8391954
    Abstract: A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.
    Type: Grant
    Filed: February 2, 2010
    Date of Patent: March 5, 2013
    Assignee: Mako Surgical Corp.
    Inventor: Arthur E. Quaid, III
  • Patent number: 8209054
    Abstract: An embodiment of a haptic gripper system includes a slave gripper device, a master gripper device, and a gripper motor controller. The gripper motor controller includes a slave encoder loop, a master encoder loop, and a haptic loop. The haptic loop is configured to receive a slave motor encoder loop output signal and a master motor encoder loop output signal, determine a difference signal between the slave motor encoder loop output signal and the master motor encoder loop output signal representative of a difference between a first relative angular position of a slave gripper motor and a second relative angular position of a master gripper motor, and provide a slave motor control signal to a slave motor control signal input, and provide a master motor control signal to the master motor control signal input.
    Type: Grant
    Filed: May 8, 2009
    Date of Patent: June 26, 2012
    Inventors: William Howison, Ryder Winck
  • Patent number: 8181540
    Abstract: Tactile sensors are disclosed that mimic the human fingertip and its touch receptors. The mechanical components are similar to a fingertip, with a rigid core surrounded by a weakly conductive fluid contained within an elastomeric skin. The deformable properties of the finger pad can be used as part of a transduction process. Multiple electrodes can be mounted on the surface of the rigid core and connected to impedance measuring circuitry within the core. External forces deform the fluid path around the electrodes, resulting in a distributed pattern of impedance changes containing information about those forces and the objects that applied them. Strategies are described for extracting features related to the mechanical inputs and using this information for reflexive grip control. Controlling grip force in a prosthetic having sensory feedback information is described. Pressure transducers can provide sensory feedback by measuring micro-vibrations due to sliding friction.
    Type: Grant
    Filed: April 2, 2009
    Date of Patent: May 22, 2012
    Assignee: University of Southern California
    Inventors: Gerald E. Loeb, Jeremy Fishel, Nicholas Wettels, Veronica J. Santos, Raymond Peck
  • Publication number: 20120123589
    Abstract: A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
    Type: Application
    Filed: October 18, 2011
    Publication date: May 17, 2012
    Applicant: Samsung Electronics Co., Ltd.
    Inventors: Ji Young Kim, Yong Jae Kim, Kyung Shik Roh, Young Bo Shim
  • Publication number: 20110254303
    Abstract: The present invention relates to a robot hand with a connection part that undergoes stretching deformation according to object shape and a method for controlling a robot hand; the key technical point pertains to a robot hand with a connection part that undergoes stretching deformation according to object shape, comprising: a variable connection device (100) that provides a contact face that enables pressing and contacting a moving target (10) and has a structure wherein a connection part (100a) in contact with said moving target (10) enables stretching deformation; a connection length controller (200) that interfaces with a drive part such as a motor (201) or pump to stretch and deform the connection part (100a) of said variable connection device so that the connection part (100a) of said variable connection device undergoes conversion between a closed-loop state wherein it is continuous with the surface of said moving target (10) or divided into a plurality of sections to be pressed and contacted, and an ope
    Type: Application
    Filed: July 17, 2009
    Publication date: October 20, 2011
    Inventors: Nak Ju Doh, Jingfu Jin, Chang Joo Nam, Young Hoon Lee, Shang Li Yuen, Chang Hyun Jun
  • Patent number: 8024070
    Abstract: The present disclosure provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present disclosure also provides a fixed point stabilization device for a legged mobile body comprising a stabilizing device for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper.
    Type: Grant
    Filed: June 8, 2006
    Date of Patent: September 20, 2011
    Assignee: Nagoya Institute of Technology
    Inventors: Akihito Sano, Hideo Fujimoto, Yoshito Ikemata
  • Publication number: 20110193363
    Abstract: A stress sensing device senses a shear force and a pressing force. The stress sensing device includes a support body, a support film, first and second piezoelectric parts and an elastic layer. The support body has an opening defined by a pair of straight parts perpendicular to a sensing direction of the shear force and parallel to each other. The support film having flexibility closes off the opening. The first piezoelectric part is disposed over the support film and straddling an inside portion and an outside portion of the opening along at least one of the straight parts of the opening as seen in plan view. The second piezoelectric part is disposed to the inside portion of the opening and set apart from the first piezoelectric part as seen in the plan view. The elastic layer covers the first piezoelectric part, the second piezoelectric part, and the support film.
    Type: Application
    Filed: February 8, 2011
    Publication date: August 11, 2011
    Applicant: SEIKO EPSON CORPORATION
    Inventor: Tsutomu NISHIWAKI
  • 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: 7877165
    Abstract: In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.
    Type: Grant
    Filed: December 9, 2005
    Date of Patent: January 25, 2011
    Assignee: Honda Motor Co., Ltd.
    Inventors: Kenichiro Sugiyama, Taro Yokoyama, Koji Maki, Naohide Ogawa
  • Patent number: 7831292
    Abstract: It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult to present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most useful information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to the user by visual, audio, tactile, haptic, or other means.
    Type: Grant
    Filed: July 16, 2003
    Date of Patent: November 9, 2010
    Assignee: Mako Surgical Corp.
    Inventors: Arthur E. Quaid, Rony A. Abovitz
  • Patent number: 7787993
    Abstract: A robot hand able to change the manner of holding an object while force applied from a plurality of finger mechanisms to the object is adjusted without using an auxiliary finger mechanism. When force F3 is applied to object w from a certain finger mechanism 13 among the plurality of finger mechanisms 11 to 13 is changed, the operation of each finger mechanism is controlled such that a “contact” of each of the finger mechanisms 11 to 13 in the object w and an “application force vector” from each of the finger mechanisms 11 to 13 to the object w satisfy a “stable gripping condition”. The “stable gripping condition” is a condition in which (1) the sum of each of forces and moments applied from the plurality of finger mechanisms 11 to 13 to the object w becomes zero, and (2) a slip index fr becomes minimum.
    Type: Grant
    Filed: October 30, 2007
    Date of Patent: August 31, 2010
    Assignee: Honda Motor Co., Ltd.
    Inventor: Kazuyuki Takahashi
  • Patent number: 7778731
    Abstract: In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.
    Type: Grant
    Filed: December 12, 2006
    Date of Patent: August 17, 2010
    Assignee: Honda Motor Co., Ltd
    Inventors: Naohide Ogawa, Satoshi Shigemi
  • Patent number: 7747311
    Abstract: A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.
    Type: Grant
    Filed: March 6, 2003
    Date of Patent: June 29, 2010
    Assignee: MAKO Surgical Corp.
    Inventor: Arthur E. Quaid, III
  • Patent number: 7658119
    Abstract: Disclosed is a tactile sensory system consisting of set of sensors that work by measuring impedance among plurality of electrodes. The electrodes are deployed on a substantially rigid structure that is protected form the direct contact with external objects by overlying deformable structures. These mechanical structures have similarities to the biological relationships among the distal phalanx, overlying finger pulp and covering skin and nail. Signal information is extracted form these sensors that is related to canonical physical representations used to describe stimuli to be sensed.
    Type: Grant
    Filed: March 28, 2007
    Date of Patent: February 9, 2010
    Assignee: University of Southern California
    Inventors: Gerald E. Loeb, Roland Johansson
  • Patent number: 7606633
    Abstract: A robot simulation device is provided. It includes a virtual robot working environment in which a virtual robot has a task of transferring a virtual object from a start point to a goal point, the simulation device determining the path of travel. A task simulation is executed in response to the virtual robot working environment and the path of travel. The task simulation determines a robot activity region where the virtual robot can operate and an interference region where the virtual robot encounters obstacles. Thereafter the device creates a desired executed simulation in which the virtual robot can operate without encountering obstacles.
    Type: Grant
    Filed: March 25, 2003
    Date of Patent: October 20, 2009
    Assignee: Rorze Corporation
    Inventors: Hirofumi Hosokawa, Seiichi Fujii
  • Patent number: 7558647
    Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.
    Type: Grant
    Filed: December 12, 2006
    Date of Patent: July 7, 2009
    Assignee: Panasonic Corporation
    Inventor: Yasunao Okazaki
  • Patent number: 7551978
    Abstract: The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; autonomous movement means; and receiving/passing motion deciding means for deciding a motion of the robot in an item receiving/passing operation, wherein the receiving/passing motion deciding means comprises: means for determining to start receiving an item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion on the basis of at least one of an external force and an opening-degree during the receiving motion.
    Type: Grant
    Filed: December 13, 2005
    Date of Patent: June 23, 2009
    Assignee: Honda Motor Co., Ltd.
    Inventors: Taro Yokoyama, Kenichiro Sugiyama
  • Patent number: 7549688
    Abstract: In a robot hand , at least one finger link thereof is configured to comprise a first member , a second member adhered to a surface of the first member and a third member covering at least the second member and a rigidity of the second member is made smaller than the rigidities of the first member and the third member. With this, the flexibility of the finger is improved by the second member, thereby increasing the contact area between the third member and a held object, so that the object can be securely held.
    Type: Grant
    Filed: August 31, 2004
    Date of Patent: June 23, 2009
    Assignee: Honda Motor Co., Ltd.
    Inventors: Masato Hayakawa, Takafumi Fukushima, Kazuhiro Kishimoto, Kazuyuki Takahashi
  • Publication number: 20090093908
    Abstract: A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory.
    Type: Application
    Filed: September 17, 2008
    Publication date: April 9, 2009
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Takao Yamaguchi, Tetsuya Yoshida
  • Patent number: 7438724
    Abstract: A system and method of grip force feedback for use with a prosthetic device is provided in the present invention. The system can include a prosthetic hand having a plurality of digits for use with the prosthetic device. A force sensor can be provided to produce a force signal and the force sensor is configured to be associated with the plurality of digits for the prosthetic hand. In addition, a force feedback controller can receive the force signal from the force sensor. A force feedback actuator is also in communication with the force feedback controller. The force feedback actuator can provide feedback vibrations to a user of the prosthetic device.
    Type: Grant
    Filed: December 13, 2004
    Date of Patent: October 21, 2008
    Assignee: Motion Control, Inc.
    Inventors: Harold H. Sears, Arthur D. Dyck, Edwin K. Iversen, Steven R. Kunz, James R. Linder, Shawn L. Archer, Reed H. Grant, Ronald E. Madsen, Jr.
  • Patent number: 7420155
    Abstract: The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface. An optical tactile sensor is provided with a sensing part and a photographing device, the sensing part comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group. The elastic body has an arbitrary curved surface. The behavior of the colored markers when an object touches the curved surface of the elastic body is obtained as image information of markers by photographing device. The sensor further comprises a force vector distribution reconstructing device for reconstructing forces applied to said surface from information as to the behavior of markers that is obtained from said image information of markers.
    Type: Grant
    Filed: May 21, 2004
    Date of Patent: September 2, 2008
    Assignee: Toudai TLO, Ltd.
    Inventors: Terukazu Mizota, Kazuto Kamiyama, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi
  • Patent number: 7409265
    Abstract: It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.
    Type: Grant
    Filed: December 19, 2002
    Date of Patent: August 5, 2008
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Toru Takenaka, Hiroshi Gomi, Satoshi Shigemi, Takashi Matsumoto
  • Patent number: 7379790
    Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
    Type: Grant
    Filed: May 4, 2004
    Date of Patent: May 27, 2008
    Assignee: Intuitive Surgical, Inc.
    Inventors: Gregory K. Toth, Nitish Swarup, Tom Nixon, David Q. Larkin, Steven J. Colton
  • Patent number: 7283893
    Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.
    Type: Grant
    Filed: May 24, 2006
    Date of Patent: October 16, 2007
    Assignee: Sharp Kabushiki Kaisha
    Inventors: Keita Hara, Masaki Hamamoto, Yoshiji Ohta, Kenji Ohta
  • Patent number: 7239940
    Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.
    Type: Grant
    Filed: January 6, 2005
    Date of Patent: July 3, 2007
    Assignee: Intuitive Surgical, Inc
    Inventors: Yulun Wang, Modjtaba Ghodoussi, Darrin Uecker, James Wright, Amante Mangaser
  • Patent number: 7219064
    Abstract: To provide a robot which autonomously forms and performs an action plan in response to external factors without direct command input from an operator. When reading a story printed in a book or other print media or recorded in recording media or when reading a story downloaded through a network, the robot does not simply read every single word as it is written. Instead, the robot uses external factors, such as a change of time, a change of season, or a change in a user's mood, and dynamically alters the story as long as the changed contents are substantially the same as the original contents. As a result, the robot can read aloud the story whose contents would differ every time the story is read.
    Type: Grant
    Filed: October 23, 2001
    Date of Patent: May 15, 2007
    Assignee: Sony Corporation
    Inventors: Hideki Nakakita, Tomoaki Kasuga
  • Patent number: 7191036
    Abstract: A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
    Type: Grant
    Filed: January 24, 2006
    Date of Patent: March 13, 2007
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Toru Takenaka, Takashi Matsumoto, Tadaaki Hasegawa
  • Patent number: 7120518
    Abstract: A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
    Type: Grant
    Filed: April 25, 2002
    Date of Patent: October 10, 2006
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Toru Takenaka, Takashi Matsumoto, Tadaaki Hasegawa
  • Patent number: 7082351
    Abstract: Communication system of a group robot system is made hierarchical, having a base station as an uppermost layer and a plurality of layers formed by a plurality of sensing robots, and the plurality of sensing robots are controlled such that a sensing robot belonging to an upper layer of the hierarchical structure has higher sensing resolution than a sensing robot belonging to a lower layer of the hierarchical structure. Thus, a group robot system capable of efficiently searching for an object can be obtained.
    Type: Grant
    Filed: November 18, 2002
    Date of Patent: July 25, 2006
    Assignee: Sharp Kabushiki Kaisha
    Inventors: Keita Hara, Masaki Hamamoto, Yoshiji Ohta, Kenji Ohta
  • Patent number: 7076338
    Abstract: A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion natterns of a robot including walking are classified into motion units, each motion unit servins as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are chanaed in real-time by commands.
    Type: Grant
    Filed: August 16, 2004
    Date of Patent: July 11, 2006
    Assignees: Sony Corporation
    Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
  • Patent number: 7072741
    Abstract: A control algorithm constructing device that constructs a control algorithm controlling the motion of a robot, and a controller that controls the motion of the robot in accordance with the constructed control algorithm, with the purpose of reducing the cost and time taken to create the control algorithm as compared with the conventional method such as an MZP method to solve a mechanical equation, in which the control algorithm is constructed by a recurrent neural network (RNN) including a neuron generating an output with an analogue lag with respect to an input, the coefficients of the RNN are determined in succession from the term of lower degree to the term of higher degree.
    Type: Grant
    Filed: January 4, 2005
    Date of Patent: July 4, 2006
    Assignee: Fujitsu Limited
    Inventor: Fumio Nagashima
  • Patent number: 7006895
    Abstract: A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral.
    Type: Grant
    Filed: October 26, 2004
    Date of Patent: February 28, 2006
    Assignee: SRI International
    Inventor: Philip S. Green