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    Precision apparatus with non-rigid, imprecise structure, and method for operating same
    1.
    发明授权
    Precision apparatus with non-rigid, imprecise structure, and method for operating same 失效
    具有非刚性，不精确结构的精密装置及其操作方法

    公开(公告)号：US5946449A

    公开(公告)日：1999-08-31

    申请号：US832391

    申请日：1997-04-02

    申请人： Stephen Lang Dickerson ,  Wayne J. Book ,  Nader Sadegh

    发明人： Stephen Lang Dickerson ,  Wayne J. Book ,  Nader Sadegh

    IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/404

    CPC分类号： B25J9/1697 ,  G05B2219/37563 ,  G05B2219/37565 ,  G05B2219/37572 ,  G05B2219/41116 ,  G05B2219/41117 ,  G05B2219/41144 ,  G05B2219/41423 ,  Y10S700/90

    摘要： An apparatus which allows one to maintain precision placement of a manipulator which undergoes repeated controlled motions or trajectories is provided. The structure of the apparatus is compliant such that the manipulator may be displaced by forces applied to the mechanical structure. This compliance is due to a lack of precision in the fabrication of the component parts of the machine, and to a lack of rigidity due to a lightweight design. This displacement is of a greater magnitude than the precision positioning tolerance of the apparatus. Consequently, the manipulator may then be displaced outside of the positioning tolerance due to applied forces. However, it is a characteristic of the present invention, that despite the compliance of the mechanical structure of the apparatus, the positioning tolerance will be maintained. The controlled motion is accomplished by the generation of control signals by computer software running on a computer control system. The control software enables the system to run at much greater speeds while not exciting unwanted movement or vibration in the compliant mechanical structure.

    摘要翻译： 提供一种允许维持经受重复的受控运动或轨迹的操纵器的精确放置的装置。 该装置的结构是柔顺的，使得操纵器可能被施加到机械结构上的力所取代。 这种符合性是由于机器的部件的制造缺乏精度，以及由于轻量化设计而缺乏刚性。 该位移比设备的精度定位公差大得多。 因此，由于施加的力，机械手然后可以移动到定位公差之外。 然而，本发明的特征在于，尽管符合装置的机械结构，但是将保持定位公差。 通过在计算机控制系统上运行的计算机软件产生控制信号来实现受控运动。 控制软件使系统能够以更高的速度运行，同时不会在顺从的机械结构中刺激不必要的运动或振动。

    Digital clay apparatus and method
    5.
    发明授权
    Digital clay apparatus and method 失效
    数字粘土装置及方法

    公开(公告)号：US06836736B2

    公开(公告)日：2004-12-28

    申请号：US10164888

    申请日：2002-06-07

    申请人： Mark Allen ,  Wayne J. Book ,  Imme Ebert-Uphoff ,  Ari Glezer ,  David W. Rosen ,  Jaroslaw R. Rossignac

    发明人： Mark Allen ,  Wayne J. Book ,  Imme Ebert-Uphoff ,  Ari Glezer ,  David W. Rosen ,  Jaroslaw R. Rossignac

    IPC分类号： G06F1500

    CPC分类号： G06F3/016 ,  B33Y80/00

    摘要： A system and method for controlling the surface and/or volume of a digital clay device is provided. One embodiment, among others, is a method comprising the following steps: determining a desired position of a skeleton structure portion residing in the digital clay device, determining a volumetric change of fluid residing in a bladder, the determined volumetric change corresponding to the determined desired position of the skeleton structure portion, opening a micro-electro mechanical systems (MEMS) valve so that the fluid flows through the MEMS valve thereby causing the determined volumetric change of the fluid, and adjusting a position of the skeleton structure portion corresponding to the desired position of the skeleton structure portion, the position adjustment caused by a force generated by the bladder on the skeleton structure portion when the volume of the bladder changes in response to the determined volumetric change.

    摘要翻译： 提供了一种用于控制数字粘土装置的表面和/或体积的系统和方法。 一个实施例，其中包括以下步骤：确定驻留在数字粘土装置中的骨架结构部分的期望位置，确定存在于膀胱中的流体的体积变化，确定的体积变化对应于所确定的期望值 骨架结构部分的位置，打开微电机械系统（MEMS）阀，使得流体流过MEMS阀，从而导致确定的流体体积变化，并且调整对应于期望的骨架结构部分的位置 骨骼结构部分的位置，当膀胱的体积响应于确定的体积变化而改变时，由由膀胱在骨架结构部分上产生的力引起的位置调整。

    Digital clay apparatus and method
    7.
    发明授权
    Digital clay apparatus and method 失效
    数字粘土装置及方法

    公开(公告)号：US07047143B2

    公开(公告)日：2006-05-16

    申请号：US10889916

    申请日：2004-07-13

    申请人： Mark Allen ,  Wayne J. Book ,  Imme Ebert-Uphoff ,  Ari Glezer ,  David W. Rosen ,  Jaroslaw R. Rossignac

    发明人： Mark Allen ,  Wayne J. Book ,  Imme Ebert-Uphoff ,  Ari Glezer ,  David W. Rosen ,  Jaroslaw R. Rossignac

    IPC分类号： G06F15/00

    CPC分类号： G06F3/016 ,  B33Y80/00

    摘要： A system and method for controlling the surface and/or volume of a digital clay device is provided. One embodiment, among others, is a method comprising the following steps: determining a desired position of a skeleton structure portion residing in the digital clay device, determining a volumetric change of fluid residing in a fluid cell, the determined volumetric change corresponding to the determined desired position of the skeleton structure portion, opening a valve so that the fluid flows through the valve thereby causing the determined volumetric change of the fluid, and adjusting a position of the skeleton structure portion corresponding to the desired position of the skeleton structure portion, the position adjustment caused by a force generated by the fluid cell on the skeleton structure portion when the volume of the fluid cell changes in response to the determined volumetric change of the fluid residing in the fluid cell.

    摘要翻译： 提供了一种用于控制数字粘土装置的表面和/或体积的系统和方法。 一个实施例，其中包括以下步骤：确定驻留在数字粘土装置中的骨架结构部分的期望位置，确定驻留在流体池中的流体的体积变化，所确定的体积变化对应于所确定的 骨架结构部分的所需位置，打开阀，使得流体流过阀门，从而导致确定的流体体积变化，并且调整与骨架结构部分的期望位置对应的骨架结构部分的位置， 当流体池的体积响应于确定的存在于流体池中的流体的体积变化而改变时，由骨架结构部分上的流体池产生的力引起的位置调整。

    Displacement sensor
    8.
    发明授权
    Displacement sensor 失效
    位移传感器

    公开(公告)号：US07521921B2

    公开(公告)日：2009-04-21

    申请号：US11259665

    申请日：2005-10-26

    申请人： Haihong Zhu ,  Wayne J. Book

    发明人： Haihong Zhu ,  Wayne J. Book

    IPC分类号： G01B7/14 ,  G01B7/30

    CPC分类号： G01D5/165 ,  F04B2201/0201 ,  F15B15/2815 ,  G01D5/241

    摘要： Sensors and methods for measuring displacement are disclosed. In one embodiment, among others, a resistive element is configured to receive an alternating voltage between a first electrical terminal and a second electrical terminal, the first and second electrical terminals defining a length of the resistive element. A signal pickup is capacitively coupled to the resistive element and is configured to be moved along the length of the resistive element at a substantially fixed distance from the resistive element and without contact between the resistive element and the signal pickup. A shielded cable, such as a coaxial cable, electrically connected to the signal pickup carries a signal having an amplitude proportional to the position of the signal pickup with respect to the first and second electrical terminals.

    摘要翻译： 公开了用于测量位移的传感器和方法。 在一个实施例中，电阻元件被配置为在第一电端子和第二电端子之间接收交流电压，第一和第二电端子限定电阻元件的长度。 信号拾取器电容耦合到电阻元件，并且被配置为沿着电阻元件的长度以距离电阻元件基本上固定的距离移动，并且在电阻元件和信号拾取器之间不接触。 电连接到信号拾取器的屏蔽电缆，例如同轴电缆，携带具有与信号拾取器相对于第一和第二电端子的位置成比例的振幅的信号。

    Optimal arbitrary time-delay (OAT) filter and method to minimize unwanted system dynamics
    9.
    发明授权
    Optimal arbitrary time-delay (OAT) filter and method to minimize unwanted system dynamics 失效
    最优的任意时间延迟（OAT）滤波器和最小化不必要的系统动态的方法

    公开(公告)号：US6078844A

    公开(公告)日：2000-06-20

    申请号：US832099

    申请日：1997-04-03

    申请人： David Patrick Magee ,  Wayne J. Book

    发明人： David Patrick Magee ,  Wayne J. Book

    IPC分类号： G05B5/01 ,  G05B13/02 ,  G05B13/04

    CPC分类号： G05B13/024 ,  G05B13/042 ,  G05B5/01

    摘要： Disclosed is an optimal arbitrary time-delay (OAT) filter to shape input signals by which a controlled motion is actuated in a physical system. The filter minimizes unwanted dynamics from being created by the actuation of the controlled movement in the physical system. The filter generally comprises three coefficients which are multiplied by the discrete samples of the input signal in a digital filter performing a convolution function. The samples multiplied by the three coefficients are separated by an arbitrary time delay. In this manner, three separate signals are generated. The results of these multiplication operations are summed in real time, thereby generating a filtered input signal which is sent to actuate the controlled motion of the physical system with minimal unwanted dynamics.

    摘要翻译： 公开了一种最佳任意时间延迟（OAT）滤波器，用于对物理系统中受控运动进行动作的输入信号进行整形。 该过滤器通过在物理系统中的受控运动的致动而产生不需要的动力学。 滤波器通常包括在执行卷积函数的数字滤波器中乘以输入信号的离散样本的三个系数。 乘以三个系数的样本被任意时间延迟分开。 以这种方式，产生三个单独的信号。 这些乘法运算的结果实时相加，从而产生滤波输入信号，该信号被发送以以最小的不需要的动态来致动物理系统的受控运动。

    Robotic exercise machine and method
    10.
    发明授权
    Robotic exercise machine and method 失效
    机器人运动机及方法

    公开(公告)号：US4235437A

    公开(公告)日：1980-11-25

    申请号：US921568

    申请日：1978-07-03

    申请人： David A. Ruis ,  Russell W. Polhemus ,  Wayne J. Book

    发明人： David A. Ruis ,  Russell W. Polhemus ,  Wayne J. Book

    IPC分类号： A61H1/02 ,  A63B21/002 ,  A63B21/008 ,  A63B22/06 ,  A63B23/00 ,  A63B23/035 ,  A63B24/00 ,  A63B26/00 ,  B25J9/04 ,  B25J9/14 ,  A63B21/24

    CPC分类号： A63B21/00178 ,  A63B21/00069 ,  A63B21/00072 ,  A63B21/00181 ,  A63B21/0083 ,  A63B24/00 ,  B25J9/046 ,  B25J9/14 ,  A63B2220/16 ,  A63B2220/54 ,  A63B2225/30 ,  Y10S482/901 ,  Y10S482/902

    摘要： An automatically controlled exercise machine which is intended to produce optimal development of skeletal muscle strength for athletic purposes and in physical rehabilitation. The mechanical configuration of this machine is based on a linkage comprised of a series of links connected together so as to allow movement of each link relative to another. Each link is provided with a separate powering device which drives it relative to another link. This linkage interacts with the user by means of various removable attachments located on the outermost link. These independent powering devices are controlled by a feedback control system, so that the user interaction point moves along any specified path in response to forces exerted by the user, and simultaneously provides resisting forces which vary in any desired manner according to position, speed, time, and user-exerted forces.

    摘要翻译： 一种自动控制的运动机器，旨在为运动目的和身体康复产生骨骼肌力的最佳发展。 该机器的机械构造基于由连接在一起的一系列链节组成的连杆，以便允许每个连杆相对于另一个的移动。 每个链路都设有独立的驱动装置，它相对于另一个链路驱动它。 该链接通过位于最外面的链路上的各种可移除附件与用户交互。 这些独立的供电装置由反馈控制系统控制，使得用户交互点响应于用户施加的力而沿任何指定的路径移动，并且同时提供根据位置，速度，时间以任何期望的方式变化的抵抗力 和用户施加力。