Chris A Ihrke

US Patent:

D628609, Dec 7, 2010

Filed:

Apr 6, 2010

Appl. No.:

29/359105

Inventors:

Douglas Martin Linn - White Lake MI, US
Chris A. Ihrke - Hartland MI, US
Robert O. Ambrose - Houston TX, US
Joshua S Mehling - League City TX, US
Myron A Diftler - Houston TX, US
Adam H Parsons - Tulsa OK, US
Nicolaus A Radford - League City TX, US
Lyndon Bridgwater - Houston TX, US
Heather Bibby - Houston TX, US

Assignee:

GM Global Technology Operations, Inc. - Detroit MI
NASA Lyndon B. Johnson Space Center - Houston TX
Oceaneering Space Systems - Houston TX

International Classification:

1599

US Classification:

D15199

US Patent:

8176809, May 15, 2012

Filed:

Dec 10, 2008

Appl. No.:

12/331844

Inventors:

Chris A. Ihrke - Hartland MI, US
Adam H. Parsons - Tulsa OK, US
Joshua S. Mehling - League City TX, US
Bryan Kristian Griffith - Webster TX, US

Assignee:

GM Global Technology Operations LLC - Detroit MI

International Classification:

B25J 17/00
F16F 1/26

US Classification:

7449005, 7449001, 267161

Abstract:

A torsion spring comprises an inner mounting segment. An outer mounting segment is located concentrically around the inner mounting segment. A plurality of splines extends from the inner mounting segment to the outer mounting segment. At least a portion of each spline extends generally annularly around the inner mounting segment.

US Patent:

8255079, Aug 28, 2012

Filed:

Sep 22, 2009

Appl. No.:

12/564095

Inventors:

Douglas Martin Linn - White Lake MI, US
Chris A. Ihrke - Hartland MI, US
Myron A. Diftler - Houston TX, 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:

A61H 1/00
G06F 7/00
A63B 23/16

US Classification:

700213, 601 5, 601 23, 601 33, 601 40, 482 47, 700250

Abstract:

A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.

US Patent:

8276958, Oct 2, 2012

Filed:

Nov 12, 2008

Appl. No.:

12/269579

Inventors:

Chris A. Ihrke - Hartland MI, US
Douglas Martin Linn - White Lake MI, US
Lyndon Bridgwater - Houston TX, 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:

B25J 15/00
B66C 1/00

US Classification:

294111, 7449005, 7449006

Abstract:

A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.

US Patent:

8291788, Oct 23, 2012

Filed:

Sep 22, 2009

Appl. No.:

12/564090

Inventors:

Chris A. Ihrke - Hartland MI, US
Joshua S. Mehling - League City TX, US
Adam H. Parsons - Tulsa OK, US
Bryan Kristian Griffith - Webster TX, US
Nicolaus A. Radford - League City TX, US
Frank Noble Permenter - Webster TX, US
Donald R. Davis - Brighton MI, US
Robert O. Ambrose - Houston TX, US
Lucien Q. Junkin - Houston TX, 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:

B25J 17/00
B25J 17/02
B25J 18/00

US Classification:

7449005, 901 27, 901 28

Abstract:

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

US Patent:

8371177, Feb 12, 2013

Filed:

Sep 30, 2008

Appl. No.:

12/241309

Inventors:

Chris A. Ihrke - Hartland MI, US
Lyndon Bridgwater - Houston TX, US
Robert Platt - Houston TX, 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:

G01B 5/30

US Classification:

73760, 73826

Abstract:

A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.

US Patent:

8401700, Mar 19, 2013

Filed:

Sep 22, 2009

Appl. No.:

12/564124

Inventors:

Chris A. Ihrke - Hartland MI, US
Lyndon Bridgwater - Houston TX, US
Myron A. Diftler - Houston TX, US
David M. Reich - Huntsville AL, US
Scott R. Askew - Houston TX, 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
G05B 15/00
B25J 17/00
B25J 5/00

US Classification:

700245, 700258, 700259, 700264, 7449003, 7449006, 31856812, 901 1, 901 9, 901 15, 901 28, 901 29, 901 46, 901 47, 901 48, 901 49, 901 50

Abstract:

The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.

US Patent:

8424941, Apr 23, 2013

Filed:

Sep 22, 2009

Appl. No.:

12/564085

Inventors:

Chris A. Ihrke - Hartland MI, US
Lyndon Bridgwater - Houston TX, US
Robert Platt - Houston TX, US
S. Michael Goza - League City TX, 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:

B25J 15/10
B25J 17/00

US Classification:

294106, 901 28

Abstract:

An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.