2384 results about "Multi degree of freedom" patented technology

A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

A sensing system is provided for measuring various joints of a human body for applications for performance animation, biomechanical studies and general motion capture. One sensing device of the system is a linkage-based sensing structure comprising rigid links interconnected by revolute joints, where each joint angle is measured by a resistive bend sensor or other convenient goniometer. Such a linkage-based sensing structure is typically used for measuring joints of the body, such as the shoulders, hips, neck, back and forearm, which have more than a single rotary degree of freedom of movement. In one embodiment of the linkage-based sensing structure, a single long resistive bend sensor measures the angle of more that one revolute joint. The terminal ends of the linkage-based sensing structure are secured to the body such that movement of the joint is measured by the device. A second sensing device of the sensing system comprises a flat, flexible resistive bend sensor guided by a channel on an elastic garment. Such a flat sensing device is typically used to measure various other joints of the body which have primarily one degree of freedom of movement, such as the elbows, knees and ankles. Combining the two sensing devices as described, the sensing system has low sensor bulk at body extremities, yet accurately measures the multi-degree-of-freedom joints nearer the torso. Such a system can operate totally untethered, in real time, and without concern for electromagnetic interference or sensor occlusion.

A method and apparatus for interactive TV camera based games in which position or orientation of points on a player or of an object held by a player are determined and used to control a video display. Both single camera and stereo camera pair based embodiments are disclosed, preferably using stereo photogrammetry where multi-degree of freedom information is desired. Large video displays, preferably life-size may be used where utmost realism of the game experience is desired.

A control device for a vehicle or mechanism includes a portable displacement controller which permits a non-technical user to achieve effective control of the vehicle or mechanism, by moving the portable displacement controller intuitively with little learning effort. A first sensing device, attached to the displacement controller, detects the user's controlling motion. A second sensing device, attached to the object being controlled, detects motion thereof. An interface device receives signals from the sensing devices, processes those signals to determine relative motion of the controlling motion and the object's motion and outputs a control signal in accordance with the processed signals. The sensing devices each detect motion in six degrees of freedom; the sensing devices each include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. In specific embodiments, the accelerometers, gyroscopes, and magnetometers include micro-electromechanical system (MEMS) devices.

The invention discloses a six-degree-of-freedom vibration isolation platform based on a Stewart parallel mechanism. Through the combination of active vibration isolation technology, passive vibration isolation technology, the optimized design of the spatial six-degree-of-freedom parallel movement mechanism, the design of flexible mechanisms and the like, designed is the six-degree-of-freedom vibration isolation platform which is capable of rigidly transmitting low-frequency attitude control signals and attenuating high-frequency jamming signals and which is resonance free. A control moment gyro group is integrated in the platform; multi-degree-of-freedom disturbance produced by the control moment gyro group is converted into six independent unidirectional linear vibrations. Telescopic bars are exactly the same in structural design and all provided with an active vibration isolation unit and a passive vibration isolation unit, which are used to isolate the six independent linear vibrations respectively.

A control device for a vehicle or mechanism includes a portable displacement controller which permits a non-technical user to achieve effective control of the vehicle or mechanism, by moving the portable displacement controller intuitively with little learning effort. A first sensing device, attached to the displacement controller, detects the user's controlling motion. A second sensing device, attached to the object being controlled, detects motion thereof. An interface device receives signals from the sensing devices, processes those signals to determine relative motion of the controlling motion and the object's motion and outputs a control signal in accordance with the processed signals. The sensing devices each detect motion in six degrees of freedom; the sensing devices each include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. In specific embodiments, the accelerometers, gyroscopes, and magnetometers include micro-electromechanical system (MEMS) devices.

The invention is a multiple degree-of-freedom test stand for unmanned air vehicles, and is particularly useful for small or micro unmanned air vehicles. The stand is gravity balanced using springs such that no weight of any part of the stand becomes a burden to the tested vehicle when it flies while constrained to the stand. A joint and a plurality of members are used to enable multiple degrees of freedom.

A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.

The invention discloses a multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery, which comprises two seven-degree-of-freedom mechanical arms and a five-degree-of-freedom mechanical arm. Tail ends of the seven-degree-of-freedom mechanical arms are provided with scalpels, the tail end of the five-degree-of-freedom mechanical arm is provided with a cameral, seven degrees of freedom of each seven-degree-of-freedom mechanical arm include the rotation degree of freedom around a center shaft of the arm, the arm front and back stretching and retracting degree of freedom, the horizontal swinging degree of freedom, the vertical swinging degree of freedom, the horizontal swinging degree of freedom, the vertical swinging degree of freedom and the tool degree of freedom which are successively arranged from the root of the seven-degree-of-freedom mechanical arm, the front and back stretching and retracting degree of freedom and the rotation degree of freedom around a center line of the arm are arranged at the tail end, which contacts with a mouth gag, of the five-degree-of-freedom mechanical arm, three planar swinging degrees of freedom deeply penetrate into the mouth gag and are successively arranged from the root of the five-degree-of-freedom mechanical arm, and transmission of each degree of freedom is controlled via a steel wire. The multi-degree-of-freedom single-wound-hole robot flexible hand is a single-hole operation multi-degree-of-freedom mechanism, and can realize surgical operations including incising, pulling, suturing and the like, so that operability and accuracy of the surgery are improved.

A steerable mirror assembly, the assembly comprising a mounting plate and a mirror with a mounting surface and a reflective surface. The assembly further comprising at least one flexible connector coupled between the mounting plate and a peripheral portion of the mirror. The flexible connector is adapted to allow the mirror to move within a predetermined range along an axis perpendicular to the surface of the mirror and adapted to allow tilting of the mirror. The assembly also comprising at least one moveable support member coupled between the mounting plate and the mounting surface of the mirror. The moveable support member provides mechanical support to the mirror and is adapted to move the mirror within a predetermined range along an axis perpendicular to the surface of the mirror and adapted to allow tilting of the mirror. The assembly additionally comprising at least one position sensor.

A system for manipulating a planar substrate such as a semiconductor wafer is provided. The manipulator is typically used in conjunction with an XY stage to focus and planarize a wafer with respect to a tool. The manipulator employs redundant actuators of different types and a control system that uses low-bandwidth, high efficiency actuators to provide low frequency forces and high-bandwidth, but less efficient, actuators to provide all other forces. The manipulator provides support and manipulation of a substrate while minimizing errors due to thermal distortion.

The invention provides a lower limb mechanism of a biped robot with multiple degrees of freedom. It includes the waist, thigh, calf and foot, the thigh includes the right thigh and the left thigh, the calf includes the right calf and the left calf, and the foot includes the right foot and the left foot; the waist is composed of two parts, the right hip joint and the left hip joint, connected through the waist Board connection composition; the right hip joint and left hip joint, right thigh and left thigh, right calf and left calf, right foot and left foot are symmetrical structures; the hip joint and thigh are connected in parallel through a Hooke hinge and two connecting rods The thigh and the lower leg are connected through the knee joint connecting rod and the knee joint shaft; the lower leg and the foot are connected in parallel through the Hooke hinge and two ankle joint connecting rods. The invention has the characteristics of many degrees of freedom, and can realize the humanoid gait walking of the biped robot to the greatest extent. The structure is simple, the principle is clear, and the economy is feasible. Large load capacity, compact structure, low cost, low design difficulty, strong feasibility, suitable for biped robot mechanism design requirements.