A connection element such as a thimble connects to a user’s body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable. Signal processing equipment powers the actuators to deliver a signal at the connection element that represents a virtual situation generated by a programmed computer, or physical conditions in a remote environment. A virtual switch presents to the user the force and displacement relationship of a spring switch. A virtual bristled brush presents the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user’s changes in location.

(далее…)

Категория: Патенты | Нет комментариев »

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.

(далее…)

Категория: Патенты | Нет комментариев »

A movement actuator includes an elongate filament made of a flexible material, and a strip of shape memory alloy disposed on the surface of one side of the filament. The shape memory alloy is responsive to actuation signals, heat or electrical signals, for changing its shape and when its shape changes, it causes the filament to move, i.e., bend, to accommodate the change in shape of the alloy. Also included is a signal supply device for selectively applying heat signals or electrical current to the strip of shape memory alloy to cause the alloy to change its shape and cause the filament to bend. Other patterns for the shape memory alloy could be disposed on the filament to cause other kinds of movements. For example, a helical pattern of the shape memory alloy about the filament would cause the filament to twist when the helical pattern were caused to shorten or lengthen.

(далее…)

Категория: Патенты | Нет комментариев »

This report presents human engineering design guidelines for the development of exoskeletons, which can help the Army do its job faster, safer, with fewer people, and at lower cost by augmenting and enhancing the capabilities of individual soldiers. Descriptions of exoskeletons, which have been developed or attempted, are included to provide background information about previous work in this are& Because many of the tasks that soldiers perform require walking and carrying a load of some kind, the guidelines presented in this report are intended for exoskeletons that are capable of bipedal motion, able to augment the user’s strength, and able to enhance the user’s endurance. Aspects of anatomy, biomechanics, human performance, and physiology relevant to the design of an exoskeleton are presented. These fundamental human characteristics must be considered in the design of a machine that must work so closely with its user. In addition to the human engineering design guidelines, potential problems associated with exoskeletons are discussed. Finally, areas of the unique interface between the user and the exoskeleton that need further research are listed.

(далее…)

Категория: Научные статьи | Нет комментариев »

A human’s ability to perform physical tasks is limited by physical strength, not by intelligence. We coined the word «extenders» as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer’s intellect remains the central control system for manipulating the extender. Our research objective is to determine the ground rules for the control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders. The design of extenders is different from the design of conventional robots because the extender interfaces with the human on a physical level. The work discussed in this article involves the dynamics and control of a prototype hydraulic six-degree-of-freedom extender. This extender’s architecture is a direct drive system with all revalue joints. Its linkage consists of two identical subsystems, the arm and the hand, each having three degrees of freedom. Two sets of force sensors measure the forces imposed on the extender by the human and by the environment. The extender’s compliances in response to such contact forces were designed by selecting appropriate force compensators. The stability of the system of human, extender, and object being manipulated was analyzed. A mathematical expression for the extender performance was determined to quantify the force augmentation. Experimental studies on the control and performance of the experimental extender were conducted to verify the theoretical predictions.

(далее…)

Категория: Научные статьи | Нет комментариев »