| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 41 | HEAVY CAPACITY ARM SUPPORT SYSTEMS | US14682065 | 2015-04-08 | US20150316204A1 | 2015-11-05 | Mark C. Doyle |
| Systems and methods are provided for supporting an arm of a user while using a tool that include a harness configured to be worn on a body of a user; an arm support pivotally coupled to the harness for supporting a user's arm; and a tool mount on a free end of the arm support for receiving a tool such that the tool is manipulatable by a hand of user's arm supported by the arm support. One or more compensation elements may be coupled to the arm support and/or the tool mount for at least partially offsetting a gravitational force acting on the user's arm and/or the tool received on the tool mount. | ||||||
| 42 | Control device and gait generating device for bipedal mobile robot | US13086872 | 2011-04-14 | US09120512B2 | 2015-09-01 | Shinya Shirokura; Hiroyuki Kaneko; Chiaki Tanaka; Masakazu Kawai |
| A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture. | ||||||
| 43 | AUTOMATIC BALANCING STRUCTURE OF MEDICAL BALANCING STAND | US14095467 | 2013-12-03 | US20140157937A1 | 2014-06-12 | Masao DOI; Yusuke NAKATA |
| An automatic balancing structure of a medical balancing stand has stoppers arranged on a turn plate. In a normal state, the stoppers are in contact with and hold a contact part of a lever so that the lever and turn plate follow a rotative motion of a lateral arm. If the lateral arm causes an imbalance, a strain occurs on the lever to which a strain sensor is attached. The strain sensor detects the strain and outputs a signal to an adjustment unit so as to cancel the imbalance of the lateral arm. The strain sensor helps downsizing the automatic balancing structure and making the balance adjustment easier. | ||||||
| 44 | ARTICULATED MECHANICAL ARM EQUIPPED WITH A PASSIVE DEVICE FOR COMPENSATION FOR GRAVITY | US13804976 | 2013-03-14 | US20130283958A1 | 2013-10-31 | Luca DORIGATTI; Stephane DEWARRAT |
| An articulated mechanical arm includes a passive device designed to compensate for the effects of gravity on at least a first pivot connection which articulates a first member of the arm on a second member of the arm, and constitutes a first degree of freedom of the arm. The passive device includes a drive mechanism and at least one magnetic device. The drive mechanism is designed to transmit to the magnetic device any rotation of the second member relative to the first pivot connection. The magnetic device is designed to produce torque further to the rotation of the second member. The drive mechanism and the magnetic device are also designed such that the torque is retransmitted by the drive mechanism to the first pivot connection, such that the retransmitted torque cancels the moment of force caused by gravity exerted on the articulated mechanical arm, relative to the first pivot connection. | ||||||
| 45 | ROBOT ARM HAVING A WEIGHT COMPENSATION MECHANISM | US13741839 | 2013-01-15 | US20130180353A1 | 2013-07-18 | Sung Chul KANG; Chang Hyun CHO; Jun Ho CHOI; Mun Sang KIM |
| The robot arm having a weight compensation mechanism has a first rotation member and a second rotation member which are respectively capable of making two-DOF rotation, a first rotation of the first rotation member is yaw rotation, and a second rotation of the first rotation member is pitch rotation perpendicular to the first rotation, a third rotation and a fourth rotation of the second rotation member are respectively pitch rotation and roll rotation, and the robot arm comprises a single-DOF gravity compensator connected to the first rotation member or the second rotation member and offsetting the gravity caused by weight of the first rotation member or the second rotation member by using an elastic force of an elastic member. | ||||||
| 46 | MAGNETIC END EFFECTOR AND DEVICE FOR GUIDING AND POSITIONING THE SAME | US13660097 | 2012-10-25 | US20130110128A1 | 2013-05-02 | Sebastian Schostek; Thomas Gottwald; Marc O. Schurr |
| A magnetic guiding device (robotics) for an intracorporeal object includes a motor-driven positioning device having a maximum of three degrees of freedom to be activated for translational motion of a connecting interface of the positioning device to which a magnetic end effector is connected or connectable, the latter including a maximum of two degrees of freedom to be activated for rotational motion of a magnetic field generator. At least one of the two degrees of freedom of the magnetic end effector is encased in an effector housing. | ||||||
| 47 | CONTROL DEVICE AND GAIT GENERATING DEVICE FOR BIPEDAL MOBILE ROBOT | US13086872 | 2011-04-14 | US20110264264A1 | 2011-10-27 | Shinya Shirokura; Hiroyuki Kaneko; Chiaki Tanaka; Masakazu Kawai |
| A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture. | ||||||
| 48 | Artificial Human Limbs and Joints Employing Actuators, Springs, and Variable-Damper Elements | US13171307 | 2011-06-28 | US20110264230A1 | 2011-10-27 | Hugh M. Herr; Daniel Joseph Paluska; Peter Dilworth |
| Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes. | ||||||
| 49 | Exoskeletons for running and walking | US12859765 | 2010-08-19 | US20110040216A1 | 2011-02-17 | Hugh M. Herr; Conor Walsh; Daniel Joseph Paluska; Andrew Valiente; Kenneth Pasch; William Grand |
| An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and exoskeleton leg structures, each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee, and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and the human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking. | ||||||
| 50 | HYBRID TERRAIN-ADAPTIVE LOWER-EXTREMITY SYSTEMS | US12552021 | 2009-09-01 | US20100114329A1 | 2010-05-06 | Rick Casler; Hugh Miller Herr; Zhixiu Han; Christopher E. Barnhart |
| Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive. | ||||||
| 51 | COMPOUND-ARM MANIPULATOR | US12121225 | 2008-05-15 | US20090283490A1 | 2009-11-19 | Ray Givens |
| In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkage and a load balancing device. The linkage includes a first link, a second link, a third link and a fourth link. The first link and second links are rotatably connected to a base about first and second connection axes. The third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively. The third and fourth links are rotatably connected to a lift arm about fifth and sixth connection axes respectively, wherein the fifth and sixth connection axes are horizontally displaced from the third and fourth connection axes in the direction of the first and second connection axes. The load balancing device is configured to support the linkage in a selected position against a load and configured to permit the load to be moved upwards or downwards with a selected amount of force on the lift arm. The manipulator may be provided as part of a load maneuvering system that further includes a transport system that may be similar to that used on an overhead crane. | ||||||
| 52 | ARTICULATED ARM ROBOT | US11383327 | 2006-05-15 | US20070265731A1 | 2007-11-15 | Gunther Merk; Joachim Markert; Rainer Krumbacher |
| To increase the safety of an articulated arm robot with robot members connected by means of joints as open kinematics and with functional elements acting on the joints, such as drive motors, gears, brakes and a weight balance system, while reducing the mechanical limitations of the motion space of the robot, the present invention provides that at least some of the said functional elements have a dual design. | ||||||
| 53 | High performance device for balancing a force | US10380411 | 2001-09-12 | US07287628B2 | 2007-10-30 | Christian Salesse; Jean-Marc Loriot |
| A device for balancing a force. The device includes an articulated mechanism (10). The articulated mechanism (10) includes a proximal arm (12) borne by a support wedged on a first hinge pin (20) and a distal arm (14) borne by the proximal arm and wedged on a second hinge pin (24) extending parallel to the first pin. The distal arm has a free end (26) supporting a load (F). The device further includes first balancing means (18,20) with high bandwidth acting on the proximal arm (12), second balancing means (18,22) with high bandwidth acting on the distal arm (4), and coordinating means interposed between the first balancing means and the second balancing means to coordinate rotational movements of the proximal arm and the distal arm. | ||||||
| 54 | Artificial joints using agonist-antagonist actuators | US11642993 | 2006-12-19 | US20070162152A1 | 2007-07-12 | Hugh Herr; Lee Magnusson; Ken Endo |
| Artificial limbs and joints which behave like a biological limbs and joints employ a synthetic actuator which consume negligible power when exerting zero force, consume negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, are capable of independently engaging flexion and extension tendon-like, series springs, are capable of independently varying joint position and stiffness, and exploit series elasticity for mechanical power amplification. | ||||||
| 55 | Robot hand | US10487223 | 2004-02-20 | US20040186626A1 | 2004-09-23 | Katsunori Tsukamoto; Satoshi Sueyoshi |
| The invention provides a robot hand, which stops a robot by detecting a collision, when the robot hand collides against a peripheral device or the like, and which absorbs the impact of the collision to reduce the occurrence of a damage due to the collision. The robot hand (2) comprises a base (21) mounted on the leading end of a robot arm (1), and a pair of support members (22) mounted in parallel to the base (21), for placing and transferring a large-sized substrate (3) on the support members (22). Expandable/shrinkable hollow members (41) filled with a fluid are mounted to the leading ends of the support members (22). | ||||||
| 56 | Industrial Robot | US10419242 | 2003-04-21 | US20040093975A1 | 2004-05-20 | Mauro Amparore; Marco Brunelli; Enrico Mauletti |
| An industrial robot, provided with a balancing cylinder, which serves as an aid to the motor for actuating an arm of the robot, which oscillates about a supporting structure. The balancing cylinder is supported in cantilever fashion by the aforesaid supporting structure by means of a single oscillating support, which defines an axis of oscillation perpendicular to the axis of the cylinder and is set on one side of the body of the balancing cylinder. | ||||||
| 57 | Zero gravity robotic system and method for using same | US09478226 | 2000-01-06 | US06394189B1 | 2002-05-28 | Whitney J. Moon; Brian C. Gorge |
| A zero gravity robotic tool includes a robotic arm having a distal end. A motor is mounted on the distal end of the robotic arm and is rotated about a motor axis which passes through the center of gravity of the motor and the tool. A prime mover is connected to the robotic arm and to a pivot mechanism for causing the rotation of the motor and the tool about the motor axis. | ||||||
| 58 | Manipulator | US09847696 | 2001-05-02 | US20020006327A1 | 2002-01-17 | Henricus Johannes Adrianus Stuyt |
| A manipulator comprising a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper part, such that the members and the gripper constitute, with the foot part, an arm, wherein drive means, in particular motors for moving at least a number of the members and the gripper are provided in the foot part. | ||||||
| 59 | Remote center-of-motion robot for surgery | US968715 | 1992-10-30 | US5397323A | 1995-03-14 | Russell H. Taylor; Janez Funda; David D. Grossman; John P. Karidis; David A. LaRose |
| An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links which rotate about pivots to position and re-position an instrument, like a surgical instrument, at a work point proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion with orthogonally decoupled degrees of freedom resolved at the work point.The proximal part of the apparatus is adjustably fixed to a stationary object, like an operating table, while the distal part of the apparatus holds the instrument. Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient. | ||||||
| 60 | Motorized stand | US6248 | 1993-01-19 | US5332181A | 1994-07-26 | Jurgen Schweizer; Hartmut Gartner; Joachim Luber |
| A motorized stand for positioning medical therapeutic or diagnostic instruments is mechanically coarsely balanced by weights. A defined positioning of the medical instrument is determined by means of several drive units with integrated angle transducers. Operating safety is additionally ensured, in the event of failure of a drive unit, by the use of two angle transducers per drive unit. One angle transducer is coupled to the drive motor of each drive unit. The other angle transducer is independent of the drive motor. | ||||||
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