CN108214521B - 可自主均衡接触力的软体机器人 - Google Patents
可自主均衡接触力的软体机器人 Download PDFInfo
- Publication number
- CN108214521B CN108214521B CN201711432810.4A CN201711432810A CN108214521B CN 108214521 B CN108214521 B CN 108214521B CN 201711432810 A CN201711432810 A CN 201711432810A CN 108214521 B CN108214521 B CN 108214521B
- Authority
- CN
- China
- Prior art keywords
- soft
- force snesor
- robot
- fixed ring
- air pipe
- 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.)
- Active
Links
- 208000002925 dental caries Diseases 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 239000007779 soft material Substances 0.000 claims description 2
- 239000002344 surface layer Substances 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 241000905957 Channa melasoma Species 0.000 description 1
- 208000035126 Facies Diseases 0.000 description 1
- 235000013527 bean curd Nutrition 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711432810.4A CN108214521B (zh) | 2017-12-26 | 2017-12-26 | 可自主均衡接触力的软体机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711432810.4A CN108214521B (zh) | 2017-12-26 | 2017-12-26 | 可自主均衡接触力的软体机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108214521A CN108214521A (zh) | 2018-06-29 |
CN108214521B true CN108214521B (zh) | 2019-08-09 |
Family
ID=62648087
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711432810.4A Active CN108214521B (zh) | 2017-12-26 | 2017-12-26 | 可自主均衡接触力的软体机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108214521B (zh) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5568957A (en) * | 1992-02-12 | 1996-10-29 | Haugs; Audun | Pressure actuated gripping apparatus and method |
JP2003000569A (ja) * | 2001-06-18 | 2003-01-07 | Fumio Nogata | 手指運動機能回復支援ロボット |
CN105598995A (zh) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | 一种柔性机器手及其控制方法 |
CN106309083A (zh) * | 2016-09-05 | 2017-01-11 | 西安交通大学 | 一种emg控制的气动软体康复机械手 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10576643B2 (en) * | 2014-08-22 | 2020-03-03 | President And Fellows Of Harvard College | Sensors for soft robots and soft actuators |
-
2017
- 2017-12-26 CN CN201711432810.4A patent/CN108214521B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5568957A (en) * | 1992-02-12 | 1996-10-29 | Haugs; Audun | Pressure actuated gripping apparatus and method |
JP2003000569A (ja) * | 2001-06-18 | 2003-01-07 | Fumio Nogata | 手指運動機能回復支援ロボット |
CN105598995A (zh) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | 一种柔性机器手及其控制方法 |
CN106309083A (zh) * | 2016-09-05 | 2017-01-11 | 西安交通大学 | 一种emg控制的气动软体康复机械手 |
Non-Patent Citations (1)
Title |
---|
A Soft Exoskeleton for Hand Assistive and Rehabilitation Application using Pneumatic Actuators with Variable Stiffness;Hong Kai.Yap et al;《IEEE》;20150530;4967-4972 * |
Also Published As
Publication number | Publication date |
---|---|
CN108214521A (zh) | 2018-06-29 |
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TR01 | Transfer of patent right |
Effective date of registration: 20210126 Address after: 100089 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Patentee after: Beijing Kemai Qiyuan Technology Co.,Ltd. Address before: 100876 Beijing city Haidian District Xitucheng Road No. 10 Patentee before: Beijing University of Posts and Telecommunications |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220218 Address after: Room 3046, floor 3, building 1, No. 1, Desheng South Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 Patentee after: Beijing Kemai Xuanji Medical Technology Co.,Ltd. Address before: 100089 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: Beijing Kemai Qiyuan Technology Co.,Ltd. |
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Effective date of registration: 20220615 Address after: 100192 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Patentee after: Beijing Kemai Qiyuan Technology Co.,Ltd. Address before: Room 3046, floor 3, building 1, No. 1, Desheng South Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 Patentee before: Beijing Kemai Xuanji Medical Technology Co.,Ltd. |
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EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180629 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000715 Denomination of invention: A soft robot that can balance Contact force autonomously Granted publication date: 20190809 License type: Common License Record date: 20230717 |
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EC01 | Cancellation of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000715 Date of cancellation: 20231007 |
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EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180629 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000871 Denomination of invention: A soft robot that can autonomously balance contact force Granted publication date: 20190809 License type: Exclusive License Record date: 20231018 |
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EC01 | Cancellation of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000871 Date of cancellation: 20231109 |