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    A CONTROL METHOD FOR A ROBOTIC SYSTEM
    1.
    发明申请
    A CONTROL METHOD FOR A ROBOTIC SYSTEM 有权

    公开(公告)号：US20210370508A1

    公开(公告)日：2021-12-02

    申请号：US17040075

    申请日：2019-04-30

    Applicant: Vanderbilt University

    Inventor： Michael GOLDFARB ,  Andres MARTINEZ-GUERRA ,  Brian LAWSON

    IPC: B25J9/16

    Abstract: An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration. The control method then provides for applying a total control vector at the plurality of controllable joints, by the controller, based on the error velocity vector.

    SPOOL AND BODY ARCHITECTURES FOR THREE-POSITION DIRECTIONAL CONTROL VALVES
    2.
    发明申请
    SPOOL AND BODY ARCHITECTURES FOR THREE-POSITION DIRECTIONAL CONTROL VALVES 审中-公开

    公开(公告)号：US20180106386A1

    公开(公告)日：2018-04-19

    申请号：US15794074

    申请日：2017-10-26

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael GOLDFARB ,  Jason MITCHELL

    IPC: F16K11/07 ,  F16K31/06 ,  F15B13/04

    CPC classification number: F16K11/07 ,  F15B13/0402 ,  F15B2013/0412 ,  F16K31/0613

    Abstract: A directional-control valve is typically comprised of a valve spool that slides linearly within a valve body. The valve body typically includes five internal ports, which are covered or exposed as the spool slides within the body. The typical five-internal-port architecture precludes certain combinations of port connectivity when the spool is in the center position. For example, when the spool is in the center position, providing connectivity between the actuator ports, while simultaneously providing fluid isolation of the supply and exhaust ports, is not directly achievable with a standard five-port architecture. This application describes three embodiments that enable the aforementioned port connectivity when the spool is in the center position.

    LINEAR ACTUATOR FOR ASYMMETRIC POWER GENERATION AND DISSIPATION
    4.
    发明申请
    LINEAR ACTUATOR FOR ASYMMETRIC POWER GENERATION AND DISSIPATION 审中-公开

    公开(公告)号：US20190336309A1

    公开(公告)日：2019-11-07

    申请号：US16475332

    申请日：2018-01-16

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael GOLDFARB ,  Harrison BARTLETT ,  Brian LAWSON

    IPC: A61F2/68 ,  A61F2/64 ,  A61F2/66 ,  A61F2/70 ,  F16H25/20 ,  F15B1/02 ,  F15B15/20 ,  F15B15/14 ,  F15B15/08 ,  F15B11/10

    Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

    MULTICHANNEL BIPHASIC SIGNAL GENERATOR CIRCUIT
    5.
    发明申请
    MULTICHANNEL BIPHASIC SIGNAL GENERATOR CIRCUIT 审中-公开

    公开(公告)号：US20170095668A1

    公开(公告)日：2017-04-06

    申请号：US15383563

    申请日：2016-12-19

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael GOLDFARB ,  Kevin HA ,  Don TRUEX

    IPC: A61N1/36 ,  A61N1/02

    Abstract: A circuit includes first and second current control sub-circuits connected in series between a DC supply voltage node and a reference voltage node and third and fourth current control sub-circuits connected in series between the DC supply voltage node and the reference voltage node. The circuit also includes a DC/DC converter with a first input terminal coupled to the first load node between the first and second current control sub-circuits, a second input terminal coupled to a second load node between the third and fourth current control sub-circuits, a first output terminal, and a second output terminal. The circuit further includes output electrodes, a routing sub-circuit for selectively coupling the output electrodes to the output terminals, and a controller configured for operating the routing sub-circuit and the current control sub-circuits to cause the DC/DC converter to supply biphasic pulses for at least one of the pairs of output electrodes.

    SYSTEM AND METHOD FOR PROVIDING BIOMECHANICALLY SUITABLE RUNNING GAIT IN POWERED LOWER LIMB DEVICES
    6.
    发明申请
    SYSTEM AND METHOD FOR PROVIDING BIOMECHANICALLY SUITABLE RUNNING GAIT IN POWERED LOWER LIMB DEVICES 有权

    公开(公告)号：US20220331130A1

    公开(公告)日：2022-10-20

    申请号：US17731563

    申请日：2022-04-28

    Applicant: Vanderbilt University

    Inventor： Michael GOLDFARB ,  Amanda Shultz ,  Brian Lawson

    IPC: A61F2/70 ,  A61F2/60 ,  A61F2/68

    Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

    PROSTHETIC KNEE WITH SWING ASSIST
    7.
    发明申请
    PROSTHETIC KNEE WITH SWING ASSIST 有权

    公开(公告)号：US20210059841A1

    公开(公告)日：2021-03-04

    申请号：US16961723

    申请日：2019-01-25

    Applicant: Vanderbilt University

    Inventor： Michael GOLDFARB ,  Almaskhan BAIMYSHEV ,  Harrison BARTLETT ,  Jantzen LEE

    IPC: A61F2/64 ,  A61F2/70

    Abstract: The present disclosure provides for a device and method of control for an artificial prosthetic knee. A prosthetic knee according to the present disclosure relies on strictly passive means of providing support during weight bearing and supplements a resistive swing-phase mechanism with a small powered actuator. This actuator adds power to the knee, exclusively during swing phase, to improve swing-phase behavior. In particular, the knee still relies on the resistive swing-phase mechanism to provide nominal swing-phase knee motion, but supplements that motion as needed with the small powered actuator.

    LINEAR ACTUATOR FOR ASYMMETRIC POWER GENERATION AND DISSIPATION
    10.
    发明申请
    LINEAR ACTUATOR FOR ASYMMETRIC POWER GENERATION AND DISSIPATION 有权

    公开(公告)号：US20210128325A1

    公开(公告)日：2021-05-06

    申请号：US17144418

    申请日：2021-01-08

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael GOLDFARB ,  Harrison BARTLETT ,  Brian LAWSON

    IPC: A61F2/68 ,  A61F2/66 ,  A61F2/70 ,  F15B1/02 ,  F15B11/10 ,  F15B15/08 ,  F15B15/14 ,  F15B15/20 ,  F16H25/20

    Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

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