[특허]Exoskeleton with kinesthetic feedback and robotic control

Exoskeleton with kinesthetic feedback and robotic control 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B25J-003/04
출원번호	US-0241157 (1994-05-10)
발명자 / 주소	Brimhall Owen D. (South Jordan UT)
출원인 / 주소	Technical Research Associates, Inc. (Salt Lake City UT 02)
인용정보	피인용 횟수 : 42 인용 특허 : 0

초록 ▼

A control apparatus and method for controlling a remote actuator, the control apparatus having a kinesthetic feedback system for providing a kinesthetic sensation to the operator as a physical sensation representative of the resistive forces encountered by the remote actuator. The control apparatus is configured to be releasably mounted to the hand of the operator with control modules supported at preselected joints of the hand. The control modules sense changes in the angular orientation in the respective joints and generate a control signal as a function of the change. This control signal is used to drive the corresponding actuator. Each actuator includes a sensor to sense resistive forces encountered by the actuator and generate a response signal as a function of the resistive forces. A magnetostrictive clutch mechanism on the control module is controlled by the response signal to provide a resistive force against movement of the control module thereby providing a kinesthetic sensation to the hand of the operator.

대표청구항 ▼

A control apparatus having kinesthetic feedback comprising: first sensor means for sensing relative movement of a human appendage, said first sensor means producing a first signal as a function of said relative movement, said first sensor means comprising a lever pivotally mounted at a pivot to the human appendage so that movement of the human appendage causes a corresponding movement of said lever, said first sensor means further including a sensor on said pivot for sensing rotation of said pivot, said sensor producing said first signal; mounting means for mounting said first lever to the human appendage; an actuator located a distance from said first sensor means; first processor means for processing said first signal and transmitting said first signal to said actuator, said first processor means driving said actuator as a function of said relative movement of the human appendage; resistive means mounted to said mounting means for imparting a kinesthetic feedback to the human appendage, said resistive means comprising a clutch means on said pivot, said clutch means comprising a clutch actuator for resisting movement of said lever; second sensor means for sensing a resistive force encountered by said actuator upon movement of said actuator, said second sensor means producing a second signal; second processor means for transmitting said second signal to said resistive means, said second signal means causing said resistive means to impart said kinesthetic feedback to the human appendage, said kinesthetic feedback being a function of said resistive force; and a magnetostrictive rod driven by said second signal, said magnetostrictive rod being coupled to said clutch means to operate said clutch actuator as a function of said second signal.

이 특허를 인용한 특허 (42)

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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
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저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
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연합인증

Exoskeleton with kinesthetic feedback and robotic control 원문보기

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Exoskeleton with kinesthetic feedback and robotic control 원문보기

초록 ▼

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연구과제 타임라인

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이 특허를 인용한 특허 (42)

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