The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 08, 2019
Filed:
Nov. 02, 2015
The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US);
Michael C. Yip, Stanford, CA (US);
David B. Camarillo, Stanford, CA (US);
THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY, Stanford, CA (US);
Abstract
A method includes receiving position information and force information, providing control commands to a steering mechanism of a continuum manipulator based on the position information and the force information, updating a control matrix based on the position information and the provided control commands, and providing updated control commands to the steering mechanism based on the updated control matrix. A continuum manipulator includes a body, a steering mechanism configured to steer the body, sensors, and a controller. The sensors include a position sensor to detect a position of the body and a force sensor to detect a force against the body. The controller is configured to receive position information from the position sensor and force information from the force sensor, provide control commands to the steering mechanism based on the position information and the force information, and update a control matrix based on the position information and the provided control commands.