University of South Florida

Rajiv V Dubey

Redwan Alqasemi

Lei Wu

Karl Rothe

Paul Mitzlaff

Andoni Aguirrezabal

Derek James Lura

Matthew Michael Wernke

Stephanie Lutton Carey

Samuel Lon Phillips

Jerry Michael West

Indika Upashantha Pathirage

Karan Khokar

Elijah Anderson Klay

Disclosed is an intuitive robotic device control reference frame with hybrid inverse kinematics having a natural and easier human-robot interface. A system for controlling a robot can include a robotic device that performs tasks, an input device that receives user input indicating desired movement of the robotic device to perform the tasks, and a controller that controls the robotic device based on the user input. The controller can receive signals identifying the user input, determine a ground reference frame and an end-effector reference frame for controlling movement of the robotic device, generate, based on the ground reference frame and the end-effector reference frame, an intuitive reference frame for controlling movement of the robotic device, determine controls to move the robotic device in the intuitive reference frame, generate instructions for controlling movement of the robotic device, and execute the instructions to control movement of the robotic device.

Control of robotic arms through hybrid inverse kinematics and intuitive reference frame

In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator, and at least one of a forward-facing ultrasonic distance sensor configured to measure a distance between the gripping elements and an object to be grasped, and a forward-facing camera mounted between the gripping elements configured to capture video data of an object to be grasped.

Robotic end effectors for use with robotic manipulators

A device and method for measuring prosthetic or orthotic slip is presented. An optical sensor device is attached to the prosthesis or orthosis and measures the amount of relative motion between the prosthetic socket and the residual limb surface or between the orthosis and the affected body part. The sensor device is comprised of an optical sensor, a light source, a processing unit and a power source contained within a housing. A system for measuring multidirectional prosthetic or orthotic slip using the sensor device and automatically adjusting the fit of the prosthetic based on a determined threshold is also presented.

Prosthesis and orthosis slip detection sensor and method of use

In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, and a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator.

In one embodiment, a compliant force/torque sensor includes an orthoplanar spring including a central platform and multiple legs that extend out from the platform, a support member configured to support the orthoplanar spring, wherein the legs of the orthoplanar spring are mounted to the support member in a manner in which the central platform of the orthoplanar spring can move relative to the support member, and sensor elements configured to sense movement of the central platform of the orthoplanar spring relative to the support member.

Sensor assembly and robotic system including an orthoplanar spring having multiple legs

In one embodiment, assisting a user in performing an action in relation to an object of interest includes capturing an image of an environment, identifying boundaries of objects within the image, adaptively dividing the image into selectable cells so that edges of the cells generally aligning with boundaries of objects within the image, and detecting selection of one of the cells by the user, the cell encompassing at least part of the object of interest upon which the user wishes an action to be performed.

Growing community of inventors

Tampa, FL, United States of America

Rajiv V Dubey