公开(公告)号：US08849453B2

公开(公告)日：2014-09-30

申请号：US13408656

申请日：2012-02-29

Applicant: Bryan J Bergelin ,  Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Lyndon B. J. Bridgwater

Inventor： Bryan J Bergelin ,  Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Lyndon B. J. Bridgwater

IPC: G07F19/00 ,  A61B5/103

CPC classification number: B25J9/0006

Abstract: A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

Abstract translation: 抓握辅助系统包括手套，致动器组件和控制器。 手套包括数字，即手指或拇指，以及力传感器。 传感器测量穿戴手套的操作者施加到物体的抓握力。 齿轮环相对于数字定位。 柔性腱在一端与其中一个环连接，并通过其余的环路。 相对于数字定位的外骨骼包括各自连接到对应环的铰接互连构件和/或单个开槽材料。 致动器组件连接到腱的另一端。 控制器响应于测量到的抓持力计算拉力，并且指示来自致动器组件的拉力从而拉动腱。 外骨骼从操作者的手指向手套卸载一些张力。

公开(公告)号：US08813347B2

公开(公告)日：2014-08-26

申请号：US13589220

申请日：2012-08-20

Applicant: Roland J. Menassa ,  Pamela R. Patterson ,  Geoffrey P. McKnight ,  Guillermo A. Herrera ,  Hung D. Nguyen ,  Douglas Martin Linn ,  Chris A. Ihrke

Inventor： Roland J. Menassa ,  Pamela R. Patterson ,  Geoffrey P. McKnight ,  Guillermo A. Herrera ,  Hung D. Nguyen ,  Douglas Martin Linn ,  Chris A. Ihrke

IPC: H01C17/28

CPC classification number: G01L1/22 ,  G01L5/009 ,  G01L5/226 ,  H05K1/0268 ,  H05K1/189 ,  H05K2201/056 ,  H05K2201/10151 ,  H05K2203/163 ,  Y10T29/49002 ,  Y10T29/4902 ,  Y10T29/49103

Abstract: A method of manufacturing a load cell assembly and methods of folding a circuit device are disclosed. A flexible circuit body including a strip having at least one hinge is provided, with the strip being in a first position or an unfolded position. A plurality of strain gauges are attached to the strip, with the hinge disposed between the strain gauges. A jig is provided and the strip of the flexible circuit body is folded along the hinge utilizing the jig to define a second position or folded position of the strip.

Abstract translation: 公开了一种制造称重传感器组件的方法和折叠电路装置的方法。 提供一种柔性电路体，其包括具有至少一个铰链的条带，带材处于第一位置或展开位置。 多个应变计连接到条上，铰链位于应变计之间。 设置夹具，并且利用夹具将柔性电路体的条带沿着铰链折叠以限定条带的第二位置或折叠位置。

公开(公告)号：US08562049B2

公开(公告)日：2013-10-22

申请号：US12564078

申请日：2009-09-22

Applicant: Chris A. Ihrke ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Robert Platt ,  Brian Hargrave ,  Scott R. Askew ,  Michael C. Valvo

Inventor： Chris A. Ihrke ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Robert Platt ,  Brian Hargrave ,  Scott R. Askew ,  Michael C. Valvo

IPC: B25J15/10 ,  B25J17/00

CPC classification number: B25J15/08 ,  B25J9/104 ,  B25J15/0009

Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Abstract translation: 机器人手包括具有第一，第二和第三趾骨的手指。 第一接头将第一趾部可旋转地连接到基部结构。 第二关节可旋转地将第一趾部连接到第二趾部。 第三关节将第三趾部可旋转地连接到第二趾部。 第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。

公开(公告)号：US08550519B2

公开(公告)日：2013-10-08

申请号：US12581118

申请日：2009-10-17

Applicant: Nilesh D. Mankame ,  Douglas Martin Linn ,  James W. Wells ,  Alan L. Browne ,  Nancy L. Johnson

Inventor： Nilesh D. Mankame ,  Douglas Martin Linn ,  James W. Wells ,  Alan L. Browne ,  Nancy L. Johnson

IPC: B25J15/08 ,  B25J15/10

CPC classification number: B25J15/12 ,  B25J9/1085 ,  B25J9/1095 ,  B25J15/0023

Abstract: A mechanical gripper adapted for grasping a plurality of differing objects, and comprising a plurality of fingers, wherein each finger includes at least one variable impedance member comprising an active material element, the element, when activated and deactivated, undergoes a reversible change in impedance, and the change in impedance enables the gripper to be advantageously reconfigured, and/or locked in a reconfigured state.

Abstract translation: 一种适于抓取多个不同物体并且包括多个指状物的机械夹具，其中每个指状物包括至少一个包含活性物质元素的可变阻抗构件，所述元件在被激活和去激活时经历可逆的阻抗变化， 并且阻抗的变化使得能够有利地重新配置夹持器和/或锁定在重新配置状态。

公开(公告)号：US20130219586A1

公开(公告)日：2013-08-29

申请号：US13408668

申请日：2012-02-29

Applicant: Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Bryan J. Bergelin ,  Lyndon B.J. Bridgwater ,  Heather Bibby ,  Judy Schroeder ,  Craig Erkkila

Inventor： Chris A. Ihrke ,  Donald R. Davis ,  Douglas Martin Linn ,  Bryan J. Bergelin ,  Lyndon B.J. Bridgwater ,  Heather Bibby ,  Judy Schroeder ,  Craig Erkkila

IPC: A41D19/00

CPC classification number: B25J15/08 ,  A41D19/0024 ,  A41D19/01547 ,  A41D19/01582 ,  B25J15/02

Abstract: A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.

Abstract translation: 抓握辅助系统包括手套和柔性套筒。 手套包括诸如手指或拇指的数字，力传感器，其构造成测量由佩戴手套的操作者施加到物体的抓握力，以及相对于该位置定位的可调节的齿环。 鞍座相对于手指定位。 柔性腱在鞍座周围的一端环绕。 导管包含肌腱。 固定在手套的手掌内的导管锚接收导管。 套筒具有包含连接到腱的另一端的致动器组件和控制器的口袋。 控制器与力传感器连通，并根据测得的抓力计算拉力。 控制器命令来自致动器组件的张力拉紧肌腱，从而移动手指。

公开(公告)号：US08511964B2

公开(公告)日：2013-08-20

申请号：US12564084

申请日：2009-09-22

Applicant: Douglas Martin Linn ,  Robert O. Ambrose ,  Myron A. Diftler ,  Scott R. Askew ,  Robert Platt ,  Joshua S. Mehling ,  Nicolaus A. Radford ,  Phillip A. Strawser ,  Lyndon Bridgwater ,  Charles W. Wampler, II ,  Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Adam M. Sanders ,  David M. Reich ,  Brian Hargrave ,  Adam H. Parsons ,  Frank Noble Permenter ,  Donald R. Davis

Inventor： Douglas Martin Linn ,  Robert O. Ambrose ,  Myron A. Diftler ,  Scott R. Askew ,  Robert Platt ,  Joshua S. Mehling ,  Nicolaus A. Radford ,  Phillip A. Strawser ,  Lyndon Bridgwater ,  Charles W. Wampler, II ,  Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Adam M. Sanders ,  David M. Reich ,  Brian Hargrave ,  Adam H. Parsons ,  Frank Noble Permenter ,  Donald R. Davis

IPC: B25J11/00

CPC classification number: B25J18/00 ,  B25J15/0009 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335

Abstract: A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

Abstract translation: 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

公开(公告)号：US08467903B2

公开(公告)日：2013-06-18

申请号：US12564086

申请日：2009-09-22

Applicant: Chris A. Ihrke ,  David M. Reich ,  Lyndon Bridgwater ,  Douglas Martin Linn ,  Scott R. Askew ,  Myron A. Diftler ,  Robert Platt ,  Brian Hargrave ,  Michael C. Valvo ,  Muhammad E. Abdallah ,  Frank Noble Permenter ,  Joshua S. Mehling

Inventor： Chris A. Ihrke ,  David M. Reich ,  Lyndon Bridgwater ,  Douglas Martin Linn ,  Scott R. Askew ,  Myron A. Diftler ,  Robert Platt ,  Brian Hargrave ,  Michael C. Valvo ,  Muhammad E. Abdallah ,  Frank Noble Permenter ,  Joshua S. Mehling

IPC: B25J18/00 ,  B25J19/02 ,  B25J15/08 ,  G06F7/00 ,  B25J17/02

CPC classification number: B25J15/0009 ,  B25J9/104 ,  Y10T74/20305

Abstract: A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.

Abstract translation: 人形机器人包括具有至少一根手指的机器手。 用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。 腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。 致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。

公开(公告)号：US20110071675A1

公开(公告)日：2011-03-24

申请号：US12564074

申请日：2009-09-22

Applicant: James W. Wells ,  Neil David Mc Kay ,  Suhas E. Chelian ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Lyndon Bridgwater

Inventor： James W. Wells ,  Neil David Mc Kay ,  Suhas E. Chelian ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Lyndon Bridgwater

IPC: B25J9/06 ,  B25J17/00 ,  B25J19/04 ,  G06K9/00

CPC classification number: G06K9/3216 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20081 ,  H04N5/247 ,  H04N5/332 ,  H04N13/204

Abstract: A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

Abstract translation: 机器人系统包括具有机器人接头的人形机器人，每个机器人接头均可使用致动器可移动;以及分布式控制器，用于控制每个机器人接头的运动。 控制器包括视觉识别模块（VPM），用于在阈值照明条件下可视地识别和跟踪机器人视野中的对象。 VPM包括用于收集对象的图像的光学装置，位置提取装置和具有用于处理图像和位置信息的算法的主机。 该算法可视地识别和跟踪对象，并自动调整光学设备的曝光时间，以防止阈值照明条件下图像的特征数据丢失。 识别和跟踪对象的方法包括收集图像，提取对象的位置信息，并自动调整曝光时间，从而防止图像的特征数据丢失。

公开(公告)号：US06621036B2

公开(公告)日：2003-09-16

申请号：US10214399

申请日：2002-08-07

Applicant: Peter C. Sun ,  Pei-Chung Wang ,  Charles Weldon Wampler, II ,  Douglas Martin Linn

Inventor： Peter C. Sun ,  Pei-Chung Wang ,  Charles Weldon Wampler, II ,  Douglas Martin Linn

IPC: B23K1111

CPC classification number: B23K11/11 ,  B23K11/318 ,  B23K37/0229 ,  B23K2101/18

Abstract: A pogo welding apparatus especially for spot welding metal sheets at selected locations spaced away from their edges wherein the sheets are held in a temporary assembly with the selected locations engaged and separate programmable positioners move a primary (pogo) electrode and a backup electrode sequentially against opposite sides of the selected locations to spot weld the sheets at the selected locations in sequence. Various alternative programmable positioners, including robots of varying types, may be used to carry the electrodes. A multi head back-up electrode is adapted for efficient use of the apparatus and method in difficult to reach workpiece locations.

Abstract translation: 一种pogo焊接设备，特别用于在选定的位置与其边缘分开地点焊金属片，其中片材被保持在临时组件中，所选择的位置接合，并且分离的可编程定位器将初级（pogo）电极和备用电极顺序地抵靠相对 所选择的位置的侧面以顺序地在所选择的位置点焊片材。 可以使用各种替代的可编程定位器，包括不同类型的机器人来承载电极。 多头后备电极适于在难以到达工件位置的情况下有效地使用该装置和方法。

公开(公告)号：US08510924B2

公开(公告)日：2013-08-20

申请号：US13004575

申请日：2011-01-11

Applicant: Nilesh D. Mankame ,  James W. Wells ,  Christopher P. Henry ,  Ivan G. Sears ,  Douglas Martin Linn ,  Alan L. Browne ,  Richard J. Skurkis

Inventor： Nilesh D. Mankame ,  James W. Wells ,  Christopher P. Henry ,  Ivan G. Sears ,  Douglas Martin Linn ,  Alan L. Browne ,  Richard J. Skurkis

IPC: B21D37/16 ,  B25B27/00 ,  B23Q7/00 ,  B23Q13/00

CPC classification number: B23Q3/086 ,  B25B5/163 ,  Y10T29/4976 ,  Y10T29/49805 ,  Y10T29/49998 ,  Y10T29/53961 ,  Y10T29/53991

Abstract: A reconfigurable fixture device system, including: a base member; a reconfigurable pad disposed on the base member, wherein the reconfigurable pad comprises a shape memory material configured to selectively conform to a surface contour of a workpiece; an activation device in operative communication with the shape memory material; a controller in operable communication with at least one of the reconfigurable pad, the activation device, and the base member; a plurality of sensors for sensing a parameter associated with at least one of the reconfigurable pad, the base member, the fixture device, and the workpiece, wherein the plurality of sensors is in operable communication with the controller; and an actuator in operable communication with the controller and the at least one of the reconfigurable pad, the base member, the fixture device, and the workpiece.

Abstract translation: 一种可重构夹具装置系统，包括：基座构件; 设置在所述基底构件上的可重新配置的垫，其中所述可重构衬垫包括被配置为选择性地符合工件的表面轮廓的形状记忆材料; 与形状记忆材料可操作地通信的激活装置; 控制器，其与所述可重新配置的焊盘，所述激活装置和所述基底构件中的至少一个可操作地通信; 用于感测与所述可重新配置的衬垫，所述基座构件，所述固定装置和所述工件中的至少一个相关联的参数的多个传感器，其中所述多个传感器与所述控制器可操作地通信; 以及致动器，其与所述控制器和所述可重新配置的垫，所述基座构件，所述固定装置和所述工件中的至少一个可操作地连通。