Gm Global Technolgoy Operations, Inc.

United States of America As Represented by the Administrator of Nasa

Oceaneering Space Systems

Nasa Lyndon B. Johnson Space Center

Douglas Martin Linn

Chris A Ihrke

Myron A Diftler

Lyndon Bridgwater

Alan L Browne

Nilesh D Mankame

Robert E Platt

James W Wells

Nancy L Johnson

Christopher Paul Henry

Charles W Wampler, Ii

Muhammad E Abdallah

Donald R Davis

Brian Hargrave

Ivan G Sears

Scott R Askew

Pei-chung Wang

Roland J Menassa

Adam M Sanders

Charles Weldon Wampler, Ii

Joshua S Mehling

Michael C Valvo

Bryan J Bergelin

Robin Stevenson

Richard J Skurkis

Matthew J Reiland

Frank Noble Permenter

Nicolaus A Radford

Peter C Sun

Adam H Parsons

Robert O Ambrose

David M Reich

Lyndon B J Bridgwater

Heather Bibby

Geoffrey P McKnight

Guillermo A Herrera

Hung P Nguyen

Pamela R Patterson

Suhas E Chelian

Bradley J Blaski

Richard Clemence Janis

John D Campbell

Frederick W Rhoads

Gerald C Rieck

Evan Laske

John M Fitts

Theodore R Burton

Robert J Platt, Jr

Bryan Kristian Griffith

R Scott Askew

Rodney C Malone

Christopher E Bacalia

Andrew J Buckland

Neil David Mc Kay

Judy Schroeder

Craig Erkkila

John M Lux

Phillip A Strawser

Kody Ensley

Kevin U Carriere

Nilesh C Thakker

A slot flaring apparatus is presented herein. The slot flaring apparatus includes a base and flaring tool. The base is configured to receive and secure a stator that has a plurality of core slots. The flaring tool is configured to be controllably pressed against the stator and has a plurality of flaring teeth. Moreover, each tooth of the plurality of flaring teeth is configured to insert into and form a respective slot liner which has been inserted into the corresponding core slot.

Slot liner forming apparatus and system

An assembly and method for minimizing an overlap of a composite member riveted to another member includes a first member having a first overlap area and a second member having a second overlap area. The overlap areas of the first and second members are in direct contact, thereby forming an overlapped region. The overlapped region may be thicker than the sum of the individual members. The second member includes an end defining a projection in the overlapped region. The rivet is disposed through the first member and at least partially through the second member in the projection, thereby interlocking the second member to the first member. The projections include a curved symmetrical body defining an apex. The rivet extends through the body such that a line extending from the center axis of the rivet is perpendicular to a tangent extending through the apex of the projection.

Assembly and method for minimizing an overlap of a composite member riveted to another member

A system for turning over a vehicle frame defining openings and having a longitudinal center axis includes first and second robots each having an end effector. Each end effector has a pair of oppositely-positioned locator pins, at least one of which is selectively moveable toward the other. A controller is used to control the positioning of the frame via the robots and end effector by executing method instructions to cause the robots to align the locator pins of the end effectors with the openings of the frame, and to insert the aligned locator pins into the openings toward the center axis from outside of the vehicle frame. The robots lift the frame from a first conveyor, with weight of the vehicle frame born by the locator pins during the lift. The robots also rotate the frame about the center axis and lower the vehicle frame onto a second conveyor.

Vehicle frame turnover system and method

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.

Control of a glove-based grasp assist device

A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.

Human grasp assist device soft goods

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Robotic finger assembly

A grasp assist system includes a glove, actuator assembly, and controller. 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. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

Human grasp assist device with exoskeleton

A method of manufacturing a load cell assembly and methods of folding a circuit device are disclosed. A flexible circuit body including a strip having at least one hinge is provided, with the strip being in a first position or an unfolded position. A plurality of strain gauges are attached to the strip, with the hinge disposed between the strain gauges. A jig is provided and the strip of the flexible circuit body is folded along the hinge utilizing the jig to define a second position or folded position of the strip.

Method of manufacturing a load cell assembly and methods of folding a circuit device

A mechanical implement adapted for use in an autonomously functioning device, such as a robot arm, and including an active material, such as shape memory polymer, element that when activated and/or deactivated is operable to modify the mechanical impedance of a joint or link in the device.

Mechanical implement utilizing active material actuation

A mechanical gripper adapted for grasping a plurality of differing objects, and comprising a plurality of fingers, wherein each finger includes at least one variable impedance member comprising an active material element, the element, when activated and deactivated, undergoes a reversible change in impedance, and the change in impedance enables the gripper to be advantageously reconfigured, and/or locked in a reconfigured state.

Mechanical grippers utilizing active material activation

A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

Humanoid robot

A reconfigurable fixture device system, including: a base member; a reconfigurable pad disposed on the base member, wherein the reconfigurable pad comprises a shape memory material configured to selectively conform to a surface contour of a workpiece; an activation device in operative communication with the shape memory material; a controller in operable communication with at least one of the reconfigurable pad, the activation device, and the base member; a plurality of sensors for sensing a parameter associated with at least one of the reconfigurable pad, the base member, the fixture device, and the workpiece, wherein the plurality of sensors is in operable communication with the controller; and an actuator in operable communication with the controller and the at least one of the reconfigurable pad, the base member, the fixture device, and the workpiece.

Reconfigurable fixture device and methods of use

A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.

Tendon driven finger actuation system

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.

Bidirectional tendon terminator

Growing community of inventors

White Lake, MI, United States of America

Douglas Martin Linn