Force Feedback Patents (Class 901/34)
  • Patent number: 9032603
    Abstract: While a second component is brought into contact with a first component, the first component and the second component are rotated with respect to each other around a specific rotation axis, and rotation of the first component and the second component is stopped when a moment created around the rotation axis exceeds a predetermined threshold.
    Type: Grant
    Filed: June 20, 2012
    Date of Patent: May 19, 2015
    Assignee: Canon Kabushiki Kaisha
    Inventor: Yuya Yamamoto
  • Publication number: 20150123416
    Abstract: An inexpensive and compact robot hand and a robot having the robot hand, wherein the robot hand is configured to rotate a cylindrical object gripped by the robot hand and does not negatively affect a cable, etc., connected to the robot hand. N number of fingers are moved by a first drive part so that a circumcircle of a N-sided polygon constituted by the fingers is arranged in a concentric pattern about the center axis of the object. Each first roller is rotatable about an axis parallel to the center axis of the object, and is configured to contact the inner peripheral portion of the object by movement of the finger relative to a hand base. By rotationally driving at least one first roller while a radially outward force is applied to the object, the object may be rotated relative to the hand base.
    Type: Application
    Filed: October 31, 2014
    Publication date: May 7, 2015
    Inventor: Ryoji Kitamura
  • 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
  • Patent number: 9020640
    Abstract: A surgical system includes a manipulator, an implantable actuator and a controller. The manipulator includes a plurality of integrated sensor/actuators. The sensors of the sensor/actuators are adapted to detect movement about a plurality of axes of movement. The implantable actuator includes a plurality of joints providing a plurality of axes of movement. The controller is configured to receive information from the plurality of sensor/actuators that indicates movement of the manipulator about the plurality of axes and to cause the joints of the actuator to move along corresponding axes of movement. Each sensor/actuator of the manipulator detects movement about an axis of movement corresponding to a similar one of the joints of the actuator.
    Type: Grant
    Filed: April 26, 2013
    Date of Patent: April 28, 2015
    Assignee: Bio-Medical Engineering (HK) Limited
    Inventors: Chung Kwong Yeung, Kai Leung Yung
  • Patent number: 9016742
    Abstract: A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
    Type: Grant
    Filed: September 25, 2013
    Date of Patent: April 28, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Takashi Nammoto, Kazuhiro Kosuge, Kosuke Hara, Kengo Yamaguchi
  • 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: 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: 8897916
    Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: November 25, 2014
    Assignee: Tokyo Institute of Technology
    Inventors: Kenji Kawashima, Kotaro Tadano
  • 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: 8882660
    Abstract: A robotic manipulator controller and system for use in flexible endoscopy, the manipulator comprising a flexible member configured to be coupled to an endoscope, and an arm connected to and movable by the flexible member, wherein the flexible member has a first end connected to the arm and a second end connectable to the controller to allow a physical movement of the arm to be controllable by a physical movement of the controller.
    Type: Grant
    Filed: May 31, 2010
    Date of Patent: November 11, 2014
    Assignees: Nanyang Technological University, National University of Singapore
    Inventors: Soo Jay Louis Phee, Soon Chiang Low, Khek Yu Ho, Sheung Chee Chung
  • Publication number: 20140148951
    Abstract: A manipulator device has an arm portion and a hand portion The hand portion includes one or more finger portions that manipulate a target object. Each finger portion includes a slip sensor and multiple contact sensors, with at least one contact sensor at a position proximate to the slip sensor and at least another contact sensor at a position remote from the slip sensor. When the contact sensors at the positions remote from the slip sensor detect contact of the target object and the contact sensors arranged at the positions proximate to the slip sensors do not detect contact, a position of the finger portion is moved by a distance corresponding to the distance between the contact sensors detecting contact of the target object and the contact sensors arranged at the positions proximate to the slip such that a detecting position of the slip sensor is coincident with a position of the target object.
    Type: Application
    Filed: April 18, 2012
    Publication date: May 29, 2014
    Inventor: Makoto Saen
  • Patent number: 8700213
    Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.
    Type: Grant
    Filed: February 29, 2008
    Date of Patent: April 15, 2014
    Assignee: Tokyo Institute of Technology
    Inventors: Kenji Kawashima, Kotaro Tadano
  • Patent number: 8696042
    Abstract: In an embodiment, the present invention discloses a EUV cleaner system and process for cleaning a EUV carrier. The euv cleaner system comprises separate dirty and cleaned environments, separate cleaning chambers for different components of the double container carrier, gripper arms for picking and placing different components using a same robot handler, gripper arms for holding different components at different locations, horizontal spin cleaning and drying for outer container, hot water and hot air (70C) cleaning process, vertical nozzles and rasterizing megasonic nozzles for cleaning inner container with hot air nozzles for drying, separate vacuum decontamination chambers for outgassing different components, for example, one for inner and one for outer container with high vacuum (e.g., <10?6 Torr) with purge gas, heaters and RGA sensors inside the vacuum chamber, purge gas assembling station, and purge gas loading and unloading station.
    Type: Grant
    Filed: June 23, 2012
    Date of Patent: April 15, 2014
    Assignee: DYNAMIC MICRO SYSTEM Semiconductor Equipment GmbH
    Inventor: Lutz Rebstock
  • 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: 8649906
    Abstract: In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5?, 6, 7), detecting torque. Sensor components (21?, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5?, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5?, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).
    Type: Grant
    Filed: December 11, 2008
    Date of Patent: February 11, 2014
    Assignee: KUKA Laboratories GmbH
    Inventors: Rainer Bischoff, Eugen Heinze, Ralf Koeppe, Johannes Kurth, Gunter Schreiber, Uwe Zimmermann
  • Patent number: 8626341
    Abstract: An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The force reference impression part intermittently supplies a force reference to an impedance controller. The evaluation data measurement part measures setting time of time response, an overshoot amount, and the number of vibration times. The allowable value setting part sets allowable values of the overshoot amount and the setting time. The viscosity parameter calculator calculates a viscosity parameter with which the setting time becomes shortest. The end determining part determines the end or continuation of the process by comparing the adjustment values with the allowable values. The inertia parameter calculator adjusts the inertia parameter according to the adjustment values of the overshoot amount and the setting time.
    Type: Grant
    Filed: October 19, 2010
    Date of Patent: January 7, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Shingo Ando, Ryoichi Nagai, Yasuyuki Inoue
  • 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: 8573070
    Abstract: A robotic system comprises an end effector including an electromagnetic clamp, a force sensor attached to the end effector for measuring force exerted by the clamp against a work piece surface, and a plurality of normality sensors. The normality sensors are positioned about the force sensor to determine whether the clamp is normal to the surface before the force sensor makes contact with the surface.
    Type: Grant
    Filed: February 22, 2011
    Date of Patent: November 5, 2013
    Assignee: The Boeing Company
    Inventors: Branko Sarh, James D. Gamboa, Chris J. Erickson
  • Patent number: 8534729
    Abstract: A robotic gripper (10) has fingers (12) that are configured to grasp an object, and an actuator (20) for driving the fingers. The actuator has a drive train (30) connected to the fingers for driving the fingers, an impact mechanism (40) mechanically connected to the drive train for driving the drive train, and a motor (50) connected to the impact mechanism for driving the impact mechanism. The impact mechanism generates a series of impacts that are delivered to the drive train when the impact mechanism is loaded beyond a threshold torque. The drive train is a back-drive inhibited drive train provided by a worm drive (32, 34) that is mechanically coupled to the impact mechanism.
    Type: Grant
    Filed: August 4, 2011
    Date of Patent: September 17, 2013
    Assignee: Harris Corporation
    Inventors: Loran J. Wilkinson, Matthew D. Summer, John B. Rust, Paul M. Bosscher
  • 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: 8504205
    Abstract: A robotic grasping device (10) has a first finger (20), a second finger (30) and an actuator (40). The first finger has a first fingertip (22), a first base (24) and a first actuator engagement end (26). A first gripping surface (21) of the first finger lies between the first fingertip and the first base. Similarly, the second finger has a second fingertip (32), a second base (34), a second actuator engagement end (36). A second gripping surface (31) of the second finger is between the second fingertip and the second base. The actuator (40) mechanically engages with the first actuator engagement end and the second actuator engagement end to open and close the fingers. A first force sensor (28) is disposed on the base of the first finger to measure a first operative force on the first finger, and a second force sensor (38) is disposed on the base of the second finger to measure a second operative force on the second finger.
    Type: Grant
    Filed: March 17, 2011
    Date of Patent: August 6, 2013
    Assignee: Harris Corporation
    Inventors: Matthew D. Summer, Paul M. Bosscher, Loran J. Wilkinson
  • Patent number: 8498745
    Abstract: A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.
    Type: Grant
    Filed: July 4, 2011
    Date of Patent: July 30, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Mayumi Umetsu
  • 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: 8442685
    Abstract: In an embodiment of the present invention, with the purpose of more accurately calculating a disturbance torque generated by an external force acting on a robot, friction parameters contained in algorithms, such as a friction coefficient and a dead-zone threshold value, are dynamically changed based on the mode of operation, the operation speed, and the like. In this manner, a drive torque is estimated with high accuracy.
    Type: Grant
    Filed: March 17, 2011
    Date of Patent: May 14, 2013
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Junichiro Ooga, Junji Oaki, Hideki Ogawa
  • Patent number: 8396596
    Abstract: A robot includes an arm including a plurality of joints, arm members that form the arm, each arm member supporting a load, actuators that drive the joints and that are supported by the arm members, a load sensor embedded in at least one of the arm members to measure the load applied to the at least one of the arm members, a controller that controls movements of the actuators on the basis of a result of the measurement performed by the load sensor, and a wire hole through which a sensor line extend from a space inside the at least one of the arm members to a space inside the arm, the sensor line connecting the load sensor to the controller.
    Type: Grant
    Filed: July 7, 2010
    Date of Patent: March 12, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Takenori Oka, Manabu Okahisa
  • 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
  • Publication number: 20120328402
    Abstract: A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.
    Type: Application
    Filed: June 18, 2012
    Publication date: December 27, 2012
    Applicant: Delaware Capital Formation, Inc.
    Inventors: Orlando Trujillo, James W. Geary
  • Patent number: 8317245
    Abstract: The present invention relates to a design and microfabrication method for microgrippers that are capable of grasping micro and nano objects of a large range of sizes and two-axis force sensing capabilities. Gripping motion is produced by one or more electrothermal actuators. Integrated force sensors along x and y directions enable the measurement of gripping forces as well as the forces applied at the end of microgripper arms along the normal direction, both with a resolution down to nanoNewton. The microfabrication method enables monolithic integration of the actuators and the force sensors.
    Type: Grant
    Filed: June 21, 2007
    Date of Patent: November 27, 2012
    Inventors: Yu Sun, Keekyoung Kim
  • Patent number: 8226142
    Abstract: A workpiece gripping integrity device and method are provided having a charge-transfer sensing device configured to detect a change in charge associated with a gripper arm assembly based on a grip condition thereof. The charge-transfer sensing device can be configured to detect a change in capacitance between the gripper arm assembly and ground, wherein the change in capacitance is based on a grip condition of the gripper arm assembly associated with a plurality of grippers contacting the workpiece.
    Type: Grant
    Filed: July 23, 2008
    Date of Patent: July 24, 2012
    Assignee: Axcelis Technologies, Inc.
    Inventors: Joseph D. Gillespie, Sor Kham, Robert E. Wayne
  • 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: 8191947
    Abstract: This invention relates to a gripper for a manipulator robot comprising two members articulated at a first end, each member comprising a jaw support (8?) at a second end, and a jaw (10?) that will come into contact with an object, the jaw (10?) being approximately plane, a force sensor (26?) arranged between at least one jaw support (8?) and a jaw (10?) so as to apply a force during displacement of the jaw (10?), and a deformable parallelogram connection (14?) connecting the jaw (10?) to the jaw support (8?), the sensor (26?) being oriented such that a sensitive axis of the sensor is orthogonal to the plane of the jaw (10?).
    Type: Grant
    Filed: June 23, 2008
    Date of Patent: June 5, 2012
    Assignee: Commissariat a l'Energie Atomique
    Inventor: Tanguy Jouan De Kervanoael
  • Patent number: 8157305
    Abstract: A force sensor is disposed on a base portion, a finger base on which a pair of fingers are opposed to each other is disposed on a measuring unit of the force sensor, a finger driving mechanism base is disposed on the base portion so as to not contact the force sensor, the finger base or the fingers, and finger driving mechanisms are disposed on the finger driving mechanism base so finger opening and closing driving force vectorsface each other within a plane on which the pair of the opposed fingers are moved to open or close so as to cancel each other, such that the fingers are driven so the resultant force is virtually zero. An actuator, is installed at a place other than the base portion, the force sensor, the finger base, or the fingers and the finger driving mechanism base, and drives the finger driving mechanism.
    Type: Grant
    Filed: June 24, 2009
    Date of Patent: April 17, 2012
    Assignee: Panasonic Corporation
    Inventors: Yasunao Okazaki, Masaki Yamamoto
  • Patent number: 8155790
    Abstract: A robot control apparatus includes: a drive unit (101) driving an actuator (115) based on a torque command value; a drive torque estimation unit (107) estimating a drive torque from a joint shaft angle; an external torque calculation unit (108) calculating a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit (105) calculating a Jacobian matrix based on the joint shaft angle; an external force calculation unit (109) calculating an external force from the Jacobian matrix and the external torque; and a correction amount calculation unit (110) calculating a correction amount from the external force.
    Type: Grant
    Filed: September 28, 2009
    Date of Patent: April 10, 2012
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Junichiro Oga, Junji Oaki, Hideki Ogawa
  • Publication number: 20120013139
    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: Application
    Filed: February 15, 2011
    Publication date: January 19, 2012
    Applicant: Massachusetts Institute of Technology
    Inventor: Eduardo R. Torres-Jara
  • Publication number: 20120004774
    Abstract: A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.
    Type: Application
    Filed: July 4, 2011
    Publication date: January 5, 2012
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Mayumi UMETSU
  • Patent number: 8024071
    Abstract: Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.
    Type: Grant
    Filed: February 25, 2010
    Date of Patent: September 20, 2011
    Assignee: Panasonic Corporation
    Inventors: Mayumi Komatsu, Yasunao Okazaki
  • 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: 7988215
    Abstract: A surgical robotic system includes a robotic arm, an end effector movably connected thereto and provided with a movable end effector element driven by an actuator, and a force sensor arranged between the robotic arm and the end effector. The actuator is formed by a hydraulic cylinder. The robotic arm is provided with a hydraulic line connected to said hydraulic cylinder of the end effector.
    Type: Grant
    Filed: May 5, 2008
    Date of Patent: August 2, 2011
    Assignee: Deutsches Zentrum Fuer Luft-und Raumfahrt E.V.
    Inventor: Ulrich Seibold
  • Patent number: 7983790
    Abstract: A method for modifying a component may comprise measuring the component using a modifying tool, and recording position data for the component based on the measuring. A path for the modifying tool may be provided using the position data, and the component may be modified by moving the same modifying tool based on the provided path.
    Type: Grant
    Filed: December 19, 2008
    Date of Patent: July 19, 2011
    Assignee: The Boeing Company
    Inventors: Phillip John Crothers, Robert Coulter Fraser
  • Patent number: 7967354
    Abstract: A mixed size product end of arm tooling is used in conjunction with a robot to pick mixed size product and place the product onto a pallet or layers resting on top of a pallet. The end of arm tooling includes two center rails/forks mounted to a base. Two outer rails/forks are mounted to linear bearings that guide the outer rails/forks when moving inwardly or outwardly from the center rails for pre-sizing to the product. Pusher arms are formed of two outer pusher arms and one center pusher arm. These pusher arms are attached to linear bushings that guide the pusher arms forward and backward. The pusher arms push off the product simultaneously as the robot is withdrawing the rails.
    Type: Grant
    Filed: May 6, 2008
    Date of Patent: June 28, 2011
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Donald A. Faulkner, John R. McLean, Paul A. Santi, Paul Skrna
  • Patent number: 7953509
    Abstract: In a control method for a power assist apparatus, a pressing force acting on a workpiece held by a workpiece holding apparatus is detected, a determination is made as to whether or not the detected pressing force exceeds a preset threshold, a determination is made as to whether or not a dead man switch provided on the workpiece holding apparatus is ON, and a determination as to whether or not to release a rotation restriction applied to a joint portion for connecting the workpiece holding apparatus rotatably to an arm is made in accordance with a result of the determination as to whether or not the detected pressing force exceeds the preset threshold and a result of the determination as to whether or not the dead mean switch is ON.
    Type: Grant
    Filed: February 25, 2009
    Date of Patent: May 31, 2011
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Hideyuki Murayama
  • Patent number: 7938614
    Abstract: A grabber for automatically grabbing and placing packing units of different dimensions and configurations includes a frame with a support, a hold-down device and a stripper attached to the frame. The support supports a bottom portion of a respective packing unit, and is generally horizontally movable with respect to the frame. The hold-down device is downwardly movable toward the support to clamp the respective packing unit between the support and the hold-down device. The stripper is disposed above the support and is generally horizontally movable. The respective packing unit is substantially immobilized by the hold-down device and the stripper as the support is retracted.
    Type: Grant
    Filed: September 25, 2008
    Date of Patent: May 10, 2011
    Assignee: Dematic Corp.
    Inventor: Roland Fritzsche
  • 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: 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
  • Publication number: 20100161127
    Abstract: A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.
    Type: Application
    Filed: December 18, 2008
    Publication date: June 24, 2010
    Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., THE U.S.A AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS & SPACE ADMINISTRATION
    Inventors: Muhammad E. Abdallah, Matthew J. Reiland, Robert Platt, Charles W. Wampler, II, Brian Hargrave
  • 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
  • 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: 7484612
    Abstract: The invention relates to an overload protection device (1) comprising a housing (2) which is designed to be fixed to a manipulation device. The overload protection device comprises a tool holder (3) for fixing a tool that is attached to the housing in a displaceable manner, a pre-tensioning unit (4) for generating a pre-tensioning force between the housing and the tool holder, the pre-tensioning unit being configured as a piston assembly with a pressure piston which can be loaded by a medium and with a switching unit (5) that operates by means of relative displacement between the housing and the tool holder. The switching unit has a least one electrically conducting switching surface (6) and at least one electrically conducting contact element (7) that can be brought into electrical contact with the switching surface, the switching surface (6) and the contact element (7) being provided on an opposing surface section (8) of the tool holder and the housing.
    Type: Grant
    Filed: April 18, 2005
    Date of Patent: February 3, 2009
    Assignee: Schunk GmbH & Co. KG Fabrik fuer Spann- und Greifwerkzeuge
    Inventors: Ralf Winkler, Bruno Felhauer, Friedrich Kurz
  • Publication number: 20080297092
    Abstract: A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means.
    Type: Application
    Filed: May 27, 2008
    Publication date: December 4, 2008
    Applicant: FANUC LTD
    Inventors: Ryo NIHEI, Tetsuaki Kato, Teruki Kuroshita