| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 161 | Surgical robot and control method thereof | US14333039 | 2014-07-16 | US09770300B2 | 2017-09-26 | Young Do Kwon; Kee Hong Seo; Kyung Shik Roh |
| A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals. | ||||||
| 162 | MANIPULATOR SYSTEM, AND MEDICAL SYSTEM | US15590289 | 2017-05-09 | US20170239008A1 | 2017-08-24 | Hirotaka NAMIKI |
| A manipulator system 1 includes an arm that is operated such that a manipulator 3 is put into actuation, a tapping sensor unit 22 that is provided on the arm and detects tapping by an operator on the arm, a system control unit 4 that implements control set for each tapping in association with tapping detected by the tapping sensor unit 22. | ||||||
| 163 | CO-HANDLING ROBOT COMPRISING ROBOT CONTROL MEANS | US15321264 | 2015-06-03 | US20170157776A1 | 2017-06-08 | Florian GOSSELIN; Xavier LAMY; Dominique PONSORT |
| The invention relates to a robot comprising a tool (8), a first chain of elements having a proximal end element (6) and a distal end element (7) to which the tool is connected, at least one control member (9) of the robot connected to one of the elements of the first chain of elements other than the distal end element, control means (13, 14, 15) for at least one part of the first element chain and the control member in order to associate, with a movement of the control member relative to the proximal end element along at least one degree of freedom of the control member, a more complex movement of the distal end element relative to the proximal end element along at least one of the degrees of freedom of the distal end element. | ||||||
| 164 | Robot hand and humanoid robot having the same | US13734062 | 2013-01-04 | US09545717B2 | 2017-01-17 | Ji Young Kim; Kwang Kyu Lee; Young Do Kwon; Kyung Shik Roh |
| Disclosed herein is a control method of a robot hand including recognizing a pre-posture of user's fingers using a master device, changing the shape of the robot hand according to the recognized pre-posture, recognizing a gripping motion of the user's fingers using the master device, and executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture. | ||||||
| 165 | HAPTIC INTERFACE WITH LOCALIZED FEEDBACK | US14796068 | 2015-07-10 | US20170010671A1 | 2017-01-12 | Kamran Ghaffari Toiserkan |
| Improvement to haptic systems and methods whereby environmental information is provided to a user via audio output device. The audio output device may be provided on a user-manipulable portion of a haptic robotic interface, e.g. a kinesthetic interface. The haptic robotic interface at least partially recreates a virtual environment by providing haptic feedback. The audio output device may provide sound from a source in the virtual environment which may be collocated with the user-manipulable portion of the robotic interface. The audio output device may provide other environmental information on the virtual environment such as proximity information on the proximity of an obstacle. This may be used in, e.g. telemanipulation operations where proximity information may be used to provide warning prior to collision of the slave device with an obstacle. | ||||||
| 166 | MOTOR-DRIVEN ARTICULATED ARM WITH CABLE CAPSTAN INCLUDING A BRAKE | US15193948 | 2016-06-27 | US20160375577A1 | 2016-12-29 | Francois Louveau |
| A motor-driven articulated haptic interface arm includes a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor including a rotor, which delivers at least one maximum resistant torque about the axis opposing at least part of forces applied to the arm by its environment. A main transmission transmits to the arm the resistant torque about the axis and includes a capstan-type cable reducer. The arm includes elements for evaluating the resistant torque transmitted to the arm by the motor; braking rotation of the arm about the axis; activating the brake when the maximum resistant torque is reached by the motor; evaluating, after activation of the brake, the forces transmitted to the arm by the environment, including determining a deformation of the transmission under the forces; and deactivating the brake when the deformation goes below a predetermined threshold value. | ||||||
| 167 | USER INTERFACE FOR A ROBOT | US15075910 | 2016-03-21 | US20160270867A1 | 2016-09-22 | Andrew Scholan |
| A robotic system including: a robot arm; a camera for capturing motion of the robot arm; an input mechanism for detecting user input; a display device; and a controller. The controller can operate in (i) a first mode configured to drive the display device to display a video stream captured by the camera in a first format and to drive the robot arm such that motion by the user in a first direction causes the robot arm to move a reference part in a second direction; and (ii) a second mode configured to drive the display device to display the video stream in a second format reflected with respect to the first format and to drive the robot arm such that motion by the user in the first direction causes the robot arm to move the reference part in a direction opposite to the second direction. | ||||||
| 168 | Remote control button actuation module, system, and method | US14537078 | 2014-11-10 | US09409297B2 | 2016-08-09 | Craig Arnold Tieman |
| A device that can house a remote control for activating or controlling one or more features or functions of a vehicle. The device securely holds the remote control and upon reception of a command, operates to control a boom, actuator and pin such that the pin is moved over a particular button of the remote control, and then pressed for a requested period of time. A serious of commands or complex commands can result in causing multiple pressing patterns of the various buttons of the remote control. Thus, the features or functions of the vehicle can be activated remotely. | ||||||
| 169 | INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTIARM ROBOTIC TELESURGERY | US15012582 | 2016-02-01 | US20160157943A1 | 2016-06-09 | David Stephen Mintz; Tracey Ann Morley; Theodore Charles Walker; David Q. Larkin; Michael Lee Hanuschik |
| Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team. | ||||||
| 170 | Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot | US14474613 | 2014-09-02 | US09335752B2 | 2016-05-10 | Yudai Fudaba; Yuko Tsusaka |
| A control apparatus for a master slave robot causes a force information correcting unit to correct force information in accordance with a feature of a target object on a screen from target object information calculated by a target object information calculation unit. An operator can thus apply appropriate force while watching a picture projected on a display to perform a task. | ||||||
| 171 | Telepresence based inventory pick and place operations through robotic arms affixed to each row of a shelf | US14726458 | 2015-05-30 | US09327397B1 | 2016-05-03 | Jeff Williams; Ravi Bhaskaran; Charlie Martin |
| Disclosed are a system and/or a method of telepresence based inventory pick and place operations through actuator controlled robotic arms affixed to each row of a shelf. A method includes mounting a robotic arm at an end of a row of a shelf of inventory on a set of rails affixed to the row of a shelf. The robotic arm is permitted to move horizontally along the row of the shelf. The robotic arm is repositioned along the three axes using a set of actuators. A haptic motion of a human user is mirrored that is remotely using a positioning device (e.g., human may feel the feedback of the remote arm as it touches the objects). An item is placed on a counting platform in front of the robotic arm. The items are placed automatically in the designated location down through a transport means when a pick operation is completed. | ||||||
| 172 | Remotely operated manipulator and ROV control systems and methods | US14175540 | 2014-02-07 | US09314922B2 | 2016-04-19 | Daniel J. Dockter |
| Manipulator systems and methods are provided in which there is at least one slave manipulator assembly and at least one controller assembly in communication with the slave manipulator assembly. The controller assembly is configured to remotely operate the slave manipulator assembly, and the slave manipulator assembly provides feedback information to the controller assembly. The feedback information may include a measure of an amount of resistance or movement on the slave manipulator assembly. The systems and methods may be configured to automatically switch between at least two modes of operation when an amount of resistance or movement on the slave manipulator assembly fluctuates above and below a threshold amount of resistance or movement on the slave manipulator assembly. | ||||||
| 173 | Master-slave manipulator and medical master-slave manipulator | US13353396 | 2012-01-19 | US09283679B2 | 2016-03-15 | Kosuke Kishi |
| A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value. | ||||||
| 174 | MASTER-SLAVE SYSTEM | US14842045 | 2015-09-01 | US20160058514A1 | 2016-03-03 | Ryohei OGAWA; Kosuke KISHI |
| There is provided a master-slave system including: a slave unit including an observation optical system imaging a subject A; a treatment part projecting from a surface on which the observation optical system is provided and at least part of the treatment tools is imaged along with the subject A by the observation optical system; a master apparatus including an operating unit held and operated by an operator; a control unit associating operation of the operating unit of the master apparatus with motion of the slave unit and motion of the treatment part; and a monitor screen displaying an image acquired by the observation optical system, wherein the operating unit includes a command input unit into which a motion command for a slave unit is inputted while the operating unit is held by the operator without changing a pose of the operating unit. | ||||||
| 175 | Control apparatus and method for master-slave robot, master-slave robot, and control program | US14071994 | 2013-11-05 | US09233467B2 | 2016-01-12 | Yuko Tsusaka; Yudai Fudaba; Jun Ozawa |
| A master-slave device grips an object and performs a task while being in contact with a to-be-treated object. A force detection unit measures force information given to a slave mechanism. A force correction determination unit determines a force correction part serving as information from correction start to end times of force information transmitted to a master mechanism and, as a correcting method to perform correction, a first method determining a gain such that a reduction in absolute value of force information at the force correction part is maintained for a predetermined period of time or a second method determining a gain such that a reduction and an increase in the absolute value are repeated within a range that is not more than a value by reducing the absolute value. A force correction unit corrects information of a type of a force based on the force correction part and the gain. | ||||||
| 176 | Side-type force sense interface | US13993957 | 2011-11-30 | US09189065B2 | 2015-11-17 | Haruhisa Kawasaki; Takahiro Endo; Tetuya Mouri; Hisashi Aoyama |
| A force sense interface includes a tactile finger base having a plurality of tactile fingers, which are capable of tracking motions of the fingers of a hand of an operator, an arm mechanism, which allow spatial motion of the tactile finger base, and a controller, which controls the arm mechanism in accordance with the position and posture of the hand, and controls the tactile fingers in accordance with the movements of the fingers of the operator. The force sense interface further includes finger holders for attaching the tactile fingers on the fingers of the operator in a state where the tactile finger base is distanced from the back of the hand of the operator (H) so as to face the back of the hand. | ||||||
| 177 | REMOTELY OPERATED MANIPULATOR AND ROV CONTROL SYSTEMS AND METHODS | US14175540 | 2014-02-07 | US20150224638A1 | 2015-08-13 | Daniel J. Dockter |
| Manipulator systems and methods comprise at least one slave manipulator assembly and at least one controller assembly in communication with the slave manipulator assembly. The controller assembly is configured to remotely operate the slave manipulator assembly, and the slave manipulator assembly provides feedback information to the controller assembly. The feedback information may include a measure of an amount of resistance or movement on the slave manipulator assembly. The systems and methods may be configured to automatically switch between at least two modes of operation when an amount of resistance or movement on the slave manipulator assembly fluctuates above and below a threshold amount of resistance or movement on the slave manipulator assembly. | ||||||
| 178 | Natural human to robot remote control | US13048123 | 2011-03-15 | US09079313B2 | 2015-07-14 | Charles F. Olivier, III; Jean Sebastien Fouillade |
| The subject disclosure is directed towards controlling a robot based upon sensing a user's natural and intuitive movements and expressions. User movements and/or facial expressions are captured by an image and depth camera, resulting in skeletal data and/or image data that is used to control a robot's operation, e.g., in a real time, remote (e.g., over the Internet) telepresence session. Robot components that may be controlled include robot “expressions” (e.g., audiovisual data output by the robot), robot head movements, robot mobility drive operations (e.g., to propel and/or turn the robot), and robot manipulator operations, e.g., an arm-like mechanism and/or hand-like mechanism. | ||||||
| 179 | REMOTE CONTROL BUTTON ACTUATION MODULE, SYSTEM, AND METHOD | US14537078 | 2014-11-10 | US20150174765A1 | 2015-06-25 | Craig Arnold Tieman |
| A device that can house a remote control for activating or controlling one or more features or functions of a vehicle. The device securely holds the remote control and upon reception of a command, operates to control a boom, actuator and pin such that the pin is moved over a particular button of the remote control, and then pressed for a requested period of time. A serious of commands or complex commands can result in causing multiple pressing patterns of the various buttons of the remote control. Thus, the features or functions of the vehicle can be activated remotely. | ||||||
| 180 | Platform perturbation compensation | US13332138 | 2011-12-20 | US08977388B2 | 2015-03-10 | Stephen C. Jacobsen; John McCullough; Fraser M. Smith; Marc X. Olivier |
| A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference. | ||||||
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