| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 121 | ARTICULATED DEVICE WITH VISUALIZATION SYSTEM | US15788000 | 2017-10-19 | US20180133904A1 | 2018-05-17 | Brett Zubiate; Howard Choset; Amir Degani; Sarjoun Skaff |
| An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera. | ||||||
| 122 | ROBOTIC ACTUATOR | US15793591 | 2017-10-25 | US20180056526A1 | 2018-03-01 | Peter S. Lynn; Saul Griffith; Kevin Albert |
| A robotic actuator comprises a mass manufactured bellows, wherein the mass manufactured bellows allows a volume change by localized bending, and wherein the mass manufactured bellows is formed from a material that has a higher strength in at least two axes relative to at most one other axis, and an end effector, wherein the end effector is coupled to the manufactured bellows. | ||||||
| 123 | TOPOLOGICALLY AND MECHANICALLY ADAPTIVE REVERSIBLE ATTACHMENT SYSTEMS AND METHODS | US15650865 | 2017-07-15 | US20180015618A1 | 2018-01-18 | Jason H. Nadler; Michael Beckert |
| The disclosed technology includes devices and methods for grasping an object. Embodiments can include a housing having an internal chamber and a face. The face can include an aperture, and the housing can be in fluid connection with a fluid displacement device. Embodiments can also include a membrane in substantially airtight connection with the housing such that the membrane encloses the aperture. | ||||||
| 124 | MANIPULATOR AND MANIPULATOR SYSTEM | US15682824 | 2017-08-22 | US20170347859A1 | 2017-12-07 | Ryoji HYODO; Kosuke KISHI |
| A manipulator includes: an operating unit, and a bending assembly that is bent by operation of the operating unit, wherein: the bending assembly includes: a first link member having a first arc portion, a second link member having a second arc portion, an intermediate link member that includes a first intermediate arc portion and a second intermediate arc portion in opposition to the first intermediate arc portion, and is mounted between the first link member and the second link member. | ||||||
| 125 | Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism | US14823971 | 2015-08-11 | US09833911B2 | 2017-12-05 | Woo-Keun Yoon |
| A multi-joint arm mechanism includes an arm supporting member a first, second and third joints. The third joint has a linear extension and retraction axis. The third joint includes flat-shaped first structures bendably coupled to one another, second structures having a C-shaped section and bendably coupled to one another, a supporting member supporting the stiffened first and second structures, and a drive member sending and drawing the stiffened first and second structures. The first and the second structures are linearly stiffened by being in contact with each other and return to a bent state by being separated from each other. The second structures are bent toward the bottom parts and conveyed into the arm supporting member. The first structures are bent in a same direction as the second structures and conveyed into the arm supporting member. The first structures are stored in the arm supporting member along the second structures. | ||||||
| 126 | Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof | US15180503 | 2016-06-13 | US09821477B2 | 2017-11-21 | Robert Anderson; Gabriel Johnston; Ian J. Darisse; Joseph A. Stand; Luis Bettencourt; Todd Frangolis; Arnold E. Oyola; J. Christopher Flaherty |
| An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism. | ||||||
| 127 | Mechanical Adjustable Device | US15093039 | 2016-04-07 | US20170291312A1 | 2017-10-12 | Amir ZIV-AV |
| A mechanical adjustable device is provided, which is characterized in that it is adapted to enable changing its spatial shape from a first spatial shape to a second spatial shape, and retaining the mechanical adjustable device in its second shape. Preferably, the mechanical adjustable device comprises: a) a spring; b) a plurality of longitudinally extended ribs/wires characterized in that they are capable of being bent, wherein said plurality of longitudinally extended ribs/wires are circumferentially disposed along an enclosure confined by the spring, adjacent to the inner side of the spring; and c) a flexible sleeve/tube disposed longitudinally along the enclosure confined by the spring. | ||||||
| 128 | Actuators with Conforming Sleeves | US15276244 | 2016-09-26 | US20170239818A1 | 2017-08-24 | Kevin Galloway |
| An actuator includes at least one actuator body and a sleeve covering a portion of the actuator body. The actuator body comprises a first material, and the sleeve comprises a second material that is more rigid than the first material. The sleeve constrains bending of the actuator body where the sleeve covers the actuator body. | ||||||
| 129 | BENDING MECHANISM AND FLEXIBLE MEDICAL APPARATUS | US15481616 | 2017-04-07 | US20170210015A1 | 2017-07-27 | Shuya JOGASAKI |
| In order to prevent swiveling of unintended joint pieces and enhance positioning and motion reproducibility of a distal end portion, a bending mechanism includes: a plurality of joint pieces connected in series along the longitudinal axis; a plurality of elongated tension-transmissions that transmit tensions for individually driving the joint pieces; and at least one guide having guide channels that movably support the tension-transmissions in the longitudinal direction thereof and that guide the tension-transmissions along curved paths extending around the longitudinal axis. | ||||||
| 130 | Continuum style manipulator actuated with phase change media | US14398993 | 2013-03-12 | US09713873B2 | 2017-07-25 | Nadia G. Cheng; Maxim B. Labovsky; Annette E. Hosoi; Karl D. Iagnemma |
| A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators. Methods of actuating include unjamming all modules, positioning the manipulator with tensile elements or otherwise, jamming the base-most module, and then repositioning remaining, not-jammed modules, followed by jamming the base-most not-jammed module, and so on, until all modules are positioned and jammed. | ||||||
| 131 | SYSTEM FOR CONTROLLING THE MOVEMENT OF A MULTI-LINKED DEVICE | US15417287 | 2017-01-27 | US20170203442A1 | 2017-07-20 | Mike Schwerin; Cornell Wright; Brett Zubiate; Howie Choset |
| A system for controlling the movement of a steerable multi-linked device may include a steerable multi-linked device, a feeder mechanism releasably connected to the steerable multi-linked device and a controller device. The steerable multi-linked device may include a first link, a plurality of intermediate links, and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The controller device may be configured to control movement of the multi-linked device via the feeder mechanism. | ||||||
| 132 | Locomotion system for robotic snake | US14536802 | 2014-11-10 | US09687981B2 | 2017-06-27 | Joseph L. Hafenrichter; Gary E. Georgeson; William P. Motzer |
| A serpentine body includes a first portion, a first wheel coupled to the first portion, a second portion, a second wheel coupled to the second portion, and at least one sensor coupled to the first portion and/or the second portion. The first wheel is rotatable in a first direction. The second wheel is rotatable in a second direction opposite the first direction when the first wheel rotates in the first direction. | ||||||
| 133 | Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures | US15064043 | 2016-03-08 | US09572628B2 | 2017-02-21 | Brett Zubiate; Arnold Oyola; Dale Whipple; Joseph A. Stand; Robert Didomenico; William H. Kennefick; J. Christopher Flaherty |
| An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link. | ||||||
| 134 | ROBOTIC LINKAGE | US15172127 | 2016-06-02 | US20170000315A1 | 2017-01-05 | Christoph Matthias PISTOR; Joshua T. OEN |
| A method may include articulating a first link and a second link relative to each other about a pair of outer hinge portions on a first end of a first link and in mating engagement with a pair of inner hinge portions on a second end of a second link. Each outer hinge portion comprises an outer ear extending in a first axial direction away from the first end of the first link, and an inner bearing surface substantially oriented in the first axial direction, and each inner hinge portion comprises an inner ear extending in a second axial direction away from the second end of the second link, and an outer bearing surface positioned oriented in the second axial direction. During the articulating, the outer bearing surfaces support the outer ears and the inner bearing surfaces support the inner ears. | ||||||
| 135 | DEVICES WITH LOW MELTING POINT ALLOY FOR CONTROL OF DEVICE FLEXIBILITY | US15091822 | 2016-04-06 | US20160311108A1 | 2016-10-27 | Farshid Alambeigi; Reza Seifabadi; Mehran Armand |
| A continuum device/manipulator includes a first flexible tube, a low melting point (LMP) alloy disposed within the first flexible tube, and a temperature adjustment element that applies heat or cooling to change a phase of the LMP alloy. Changing the phase of the LMP alloy controls a flexibility of the first flexible tube. | ||||||
| 136 | Inflatable robots, robotic components and assemblies and methods including same | US13713558 | 2012-12-13 | US09427876B2 | 2016-08-30 | Annan Michael Mozeika; Mark Robert Claffee; Martin Buehler |
| A robotic joint assembly includes a first structural member, a second structural member, and a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members. The rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member. The first and second flexible hinge members cross one another between the first and second structural members. | ||||||
| 137 | Steerable multi-linked device having multiple working ports | US13670797 | 2012-11-07 | US09386911B2 | 2016-07-12 | Brett Zubiate; Amir Degani; Howie Choset |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable. | ||||||
| 138 | Robot having soft arms for locomotion and grip purposes | US14114833 | 2012-05-02 | US09314933B2 | 2016-04-19 | Marcello Calisti; Andrea Arienti; Michele Giorelli; Barbara Mazzolai; Cecilia Laschi; Paolo Dario |
| A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities. | ||||||
| 139 | Bio-inspired continuous robotic limb | US13823102 | 2011-09-14 | US09314923B2 | 2016-04-19 | Matteo Cianchetti; Maurizio Follador; Andrea Arienti; Cecilia Laschi; Barbara Mazzolai; Paolo Dario |
| A robotic limb is described. The robotic limb has a closed tubular casing made of viscoelastic material defining a chamber containing an incompressible fluid. The closed tubular casing has a sheath formed by substantially inextensible intertwined wires. In the chamber there are groups of transverse actuators axially spaced from each other, connected to the sheath and adapted to reversibly contract the closed tubular casing at least partly in the radial direction. The robotic limb also has longitudinal actuators adapted to reversibly contract the closed tubular casing at least partly in the axial direction being connected to each of the groups of transverse actuators. | ||||||
| 140 | Flexible and Stretchable Electronic Strain-limited Layer for Soft Actuators | US14832071 | 2015-08-21 | US20160052131A1 | 2016-02-25 | Joshua Aaron LESSING; Ramses V. MARTINEZ; Alok Suryavamsee TAYI; Jason Ming TING; George M. WHITESIDES |
| A soft robot having an integrated electrical component includes an expandable or collapsible body, the body comprising an inlet that is configured to communicate with a fluid source and a flexible strain limited layer secured to a portion of the expandable or collapsible body, wherein the strain limited layer includes at least one electrical component. | ||||||
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