Adam B Sanders

US Patent:

8364314, Jan 29, 2013

Filed:

Nov 24, 2009

Appl. No.:

12/624445

Inventors:

Muhammad E Abdallah - Houston TX, US
Robert Platt - Houston TX, US
Matthew J Reiland - Oxford MI, US
Adam M Sanders - Holly MI, US

Assignee:

GM Global Technology Operations LLC - Detroit MI
The United States of America as represented by the Administrator of the National Aeronautics and Space Administration - Washington DC

International Classification:

G06F 19/00

US Classification:

700264, 901 30

Abstract:

A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e. g. , a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

US Patent:

20130226350, Aug 29, 2013

Filed:

Feb 29, 2012

Appl. No.:

13/408675

Inventors:

Bryan J. Bergelin - Houston TX, US
Chris A. Ihrke - Hartland MI, US
Donald R. Davis - Novi MI, US
Douglas Martin Linn - White Lake MI, US
Adam M. Sanders - Huntersville NC, US
R. Scott Askew - Houston TX, US
Evan Laske - Troy MI, US
Kody Ensley - Polson MT, US

Assignee:

The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration - Washington DC
GM GLOBAL TECHNOLOGY OPERATIONS LLC - Detroit MI

International Classification:

G05B 13/00
A41D 19/00

US Classification:

700275, 2160

Abstract:

A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.