User interface for a tele-operated robotic hand system

Crawford, Anthony L

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A - human necessities
A01 - agriculture
A21 - baking
A22 - butchering
A23 - foods or foodstuffs
A24 - tobacco
A41 - wearing apparel
A42 - headwear
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A44 - haberdashery
A45 - hand or travelling articles
A46 - brushware
A47 - furniture
A61 - medical or veterinary science
A62 - life-saving
A63 - sports
A99 - subject matter not otherwise provided for in this section
B - performing operations
B01 - physical or chemical processes or apparatus in general
B02 - crushing, pulverising, or disintegrating
B03 - separation of solid materials using liquids or using pneumatic tables or jigs
B04 - centrifugal apparatus or machines for carrying-out physical or chemical processes
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B06 - generating or transmitting mechanical vibrations in general
B07 - separating solids from solids
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B21 - mechanical metal-working without essentially removing material
B22 - casting
B23 - machine tools
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B26 - hand cutting tools
B27 - working or preserving wood or similar material
B28 - working cement, clay, or stone
B29 - working of plastics
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B31 - making articles of paper, cardboard or material worked in a manner analogous to paper
B32 - layered products
B33 - additive manufacturing technology
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B42 - bookbinding
B43 - writing or drawing implements
B44 - decorative arts
B60 - vehicles in general
B61 - railways
B62 - land vehicles for travelling otherwise than on rails
B63 - ships or other waterborne vessels
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B66 - hoisting
B67 - opening, closing {or cleaning} bottles, jars or similar containers
B68 - saddlery
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B82 - nanotechnology
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C01 - inorganic chemistry
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C22 - metallurgy
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C25 - electrolytic or electrophoretic processes
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D - textiles
D01 - natural or man-made threads or fibres
D02 - yarns
D03 - weaving
D04 - braiding
D05 - sewing
D06 - treatment of textiles or the like
D07 - ropes
D10 - indexing scheme associated with sublasses of section d, relating to textiles
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Title: User interface for a tele-operated robotic hand system

Abstract

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

Inventors:: Crawford, Anthony L

Issue Date:: 2015-03-24

Research Org.:: Idaho National Laboratory (INL), Idaho Falls, ID (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1174180

Patent Number(s):: 8989902

Application Number:: 13/868,185

Assignee:: U.S. Department of Energy (Washington, DC)

Patent Classifications (CPCs):: A - HUMAN NECESSITIES A61 - MEDICAL OR VETERINARY SCIENCE A61B - DIAGNOSIS

B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS

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A - HUMAN NECESSITIES A61 - MEDICAL OR VETERINARY SCIENCE A61B - DIAGNOSIS
A61B2017/00725 - {Calibration or performance testing}
A61B2034/741 - {Glove like input devices, e.g. "data gloves"}
A61B34/30 - Surgical robots
A61B34/35 - for telesurgery
A61B34/74 - {Manipulators with manual electric input means}
A61B5/6806 - {Gloves}
A61B5/6826 - {Finger}

B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J13/02 - Hand grip control means {
B25J13/082 - {Grasping-force detectors
B25J3/04 - involving servo mechanisms
B25J9/1612 - {characterised by the hand, wrist, grip control}
B25J9/1689 - {Teleoperation}

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B2219/39466 - Hand, gripper, end effector of manipulator

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DOE Contract Number:: AC07-05ID14517

Resource Type:: Patent

Resource Relation:: Patent File Date: 2013 Apr 23

Country of Publication:: United States

Language:: English

Subject:: 42 ENGINEERING

Citation Formats


                    Crawford, Anthony L. User interface for a tele-operated robotic hand system.  United States: N. p., 2015. 
        Web.

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                    Crawford, Anthony L. User interface for a tele-operated robotic hand system.  United States.

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                    Crawford, Anthony L. Tue .  
        "User interface for a tele-operated robotic hand system".  United States.  https://www.osti.gov/servlets/purl/1174180.

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@article{osti_1174180,

  title        = {User interface for a tele-operated robotic hand system},

  author       = {Crawford, Anthony L},

  abstractNote = {Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2015},

  month        = {3}

}

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Works referenced in this record:

Multiple joints reference for robot finger control in robot hand teleoperation
conference, December 2012

Kobayashi, Futoshi; Kitabayashi, Keiichi; Nakamoto, Hiroyuki
2012 IEEE/SICE International Symposium on System Integration (SII 2012), 2012 IEEE/SICE International Symposium on System Integration (SII)
https://doi.org/10.1109/SII.2012.6427360

Two-Fingered Haptic Device for Robot Hand Teleoperation
journal, January 2011

Kobayashi, Futoshi; Ikai, George; Fukui, Wataru
Journal of Robotics, Vol. 2011
https://doi.org/10.1155/2011/419465

Teleoperation of a robot manipulator using a vision-based human-robot interface
journal, October 2005

Kofman, J.; Luu, T. J.
IEEE Transactions on Industrial Electronics, Vol. 52, Issue 5
https://doi.org/10.1109/TIE.2005.855696

A new method of accurate hand- and arm-tracking for small primates
journal, March 2012

Schaffelhofer, S.; Scherberger, H.
Journal of Neural Engineering, Vol. 9, Issue 2
https://doi.org/10.1088/1741-2560/9/2/026025

Decoding 3-D Reach and Grasp Kinematics From High-Frequency Local Field Potentials in Primate Primary Motor Cortex
journal, July 2010

Jun Zhuang, ; Truccolo, Wilson; Vargas-Irwin, Carlos
IEEE Transactions on Biomedical Engineering, Vol. 57, Issue 7
https://doi.org/10.1109/TBME.2010.2047015

Portable dextrous force feedback master for robot telemanipulation
patent, April 1991

Burdea, Grigore C.
US Patent Document 5,004,391
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/5004391

Method of making an electrically conductive strain gauge material
patent, January 1999

Li, Larry C.; Dawn, Frederic S.; Pesek, Todd A.
US Patent Document 5,858,291
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/5858291

System and method for constraining a graphical hand from penetrating simulated graphical objects
patent, December 2008

Kramer, James F.; Ullrich, Christopher J.
US Patent Document 7,472,047
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7472047

Method and system for hand control of a teleoperated minimally invasive slave surgical instrument
patent, March 2014

Itkowitz, Brandon D.; DiMaio, Simon P.; Zhao, Tao
US Patent Document 8,682,489
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8682489

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Similar Records

Title: User interface for a tele-operated robotic hand system

Abstract

Citation Formats

Multiple joints reference for robot finger control in robot hand teleoperation conference, December 2012

Two-Fingered Haptic Device for Robot Hand Teleoperation journal, January 2011

Teleoperation of a robot manipulator using a vision-based human-robot interface journal, October 2005

A new method of accurate hand- and arm-tracking for small primates journal, March 2012

Decoding 3-D Reach and Grasp Kinematics From High-Frequency Local Field Potentials in Primate Primary Motor Cortex journal, July 2010

Portable dextrous force feedback master for robot telemanipulation patent, April 1991

Method of making an electrically conductive strain gauge material patent, January 1999

System and method for constraining a graphical hand from penetrating simulated graphical objects patent, December 2008

Method and system for hand control of a teleoperated minimally invasive slave surgical instrument patent, March 2014

Multiple joints reference for robot finger control in robot hand teleoperation
conference, December 2012

Two-Fingered Haptic Device for Robot Hand Teleoperation
journal, January 2011

Teleoperation of a robot manipulator using a vision-based human-robot interface
journal, October 2005

A new method of accurate hand- and arm-tracking for small primates
journal, March 2012

Decoding 3-D Reach and Grasp Kinematics From High-Frequency Local Field Potentials in Primate Primary Motor Cortex
journal, July 2010

Portable dextrous force feedback master for robot telemanipulation
patent, April 1991

Method of making an electrically conductive strain gauge material
patent, January 1999

System and method for constraining a graphical hand from penetrating simulated graphical objects
patent, December 2008

Method and system for hand control of a teleoperated minimally invasive slave surgical instrument
patent, March 2014