CA3132645A1 - Voice-activated, compact, and portable robotic system - Google Patents

Voice-activated, compact, and portable robotic system Download PDF

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Publication number
CA3132645A1
CA3132645A1 CA3132645A CA3132645A CA3132645A1 CA 3132645 A1 CA3132645 A1 CA 3132645A1 CA 3132645 A CA3132645 A CA 3132645A CA 3132645 A CA3132645 A CA 3132645A CA 3132645 A1 CA3132645 A1 CA 3132645A1
Authority
CA
Canada
Prior art keywords
tendon
joint
joint member
secured
phalange ring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3132645A
Other languages
English (en)
French (fr)
Inventor
Jaydev DESAI
Seokhwan Jeong
Phillip TRAN
Xuefeng Wang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Georgia Tech Research Corp
Original Assignee
Georgia Tech Research Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Georgia Tech Research Corp filed Critical Georgia Tech Research Corp
Publication of CA3132645A1 publication Critical patent/CA3132645A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/003—Controls for manipulators by means of an audio-responsive input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Transplantation (AREA)
  • Rheumatology (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Cardiology (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
CA3132645A 2019-03-04 2020-03-04 Voice-activated, compact, and portable robotic system Pending CA3132645A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962813200P 2019-03-04 2019-03-04
US62/813,200 2019-03-04
PCT/US2020/020954 WO2020180965A1 (en) 2019-03-04 2020-03-04 Voice-activated, compact, and portable robotic system

Publications (1)

Publication Number Publication Date
CA3132645A1 true CA3132645A1 (en) 2020-09-10

Family

ID=72338756

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3132645A Pending CA3132645A1 (en) 2019-03-04 2020-03-04 Voice-activated, compact, and portable robotic system

Country Status (5)

Country Link
US (2) US12179356B2 (https=)
EP (1) EP4090295A4 (https=)
JP (1) JP7411317B2 (https=)
CA (1) CA3132645A1 (https=)
WO (1) WO2020180965A1 (https=)

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* Cited by examiner, † Cited by third party
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CN111475025B (zh) * 2020-04-08 2022-08-19 腾讯科技（深圳）有限公司 一种触觉反馈设备、电子设备及机器人系统
US12364640B2 (en) * 2020-04-14 2025-07-22 Board Of Regents, The University Of Texas System Upper body human to machine interface
CN114734426B (zh) * 2022-03-11 2024-05-24 中国科学院自动化研究所 手部外骨骼结构控制方法、装置、电子设备及存储介质
CN116834071B (zh) * 2023-08-16 2026-03-03 北京忆海原识科技有限公司 腱传动机器人的承力部件、掌指节及机器人
DE102023124508A1 (de) * 2023-09-12 2025-03-13 Georg-August-Universität Göttingen Stiftung Öffentlichen Rechts Exoskelett

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US6427248B1 (en) * 1997-10-09 2002-08-06 David M. Albert Grip-enhancing glove
US6554844B2 (en) * 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US6182293B1 (en) * 1999-07-15 2001-02-06 Donmardel E. Mustin Sports glove
US6526593B2 (en) * 2000-05-26 2003-03-04 Robert J. Sajovic Glove with improved grip
US6543058B2 (en) * 2001-07-03 2003-04-08 Acushnet Company Glove with an exoskeleton layer
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WO2006053140A2 (en) * 2004-11-09 2006-05-18 Focus Biomed Corporation Grip enhancing material having miniaturized suction cups and method and apparatus for making the same
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US20090089909A1 (en) * 2007-10-08 2009-04-09 Miguel Castro Sphere and glove exercise apparatus
JP2010082342A (ja) * 2008-10-02 2010-04-15 Nippon Densan Corp 手指用補助アクチュエータ
US8382174B2 (en) 2009-10-08 2013-02-26 University Of Maryland System, method, and apparatus for suction gripping
KR101706094B1 (ko) * 2010-01-14 2017-02-14 삼성전자주식회사 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법
US8627544B2 (en) * 2010-01-28 2014-01-14 Sarmad J. Habboush Debris collecting apparatus and methods of making and using the same
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Also Published As

Publication number Publication date
EP4090295A1 (en) 2022-11-23
EP4090295A4 (en) 2024-04-10
US12576517B2 (en) 2026-03-17
JP7411317B2 (ja) 2024-01-11
JP2022525049A (ja) 2022-05-11
US12179356B2 (en) 2024-12-31
US20250042023A1 (en) 2025-02-06
WO2020180965A1 (en) 2020-09-10
US20220143826A1 (en) 2022-05-12

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