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:
Nov. 05, 2019
Filed:
Sep. 28, 2015
Kastanienbaum Gmbh, München, DE;
Sami Haddadin, Hannover, DE;
Kastanienbaum GmbH, München, DE;
Abstract
The invention relates to a device and a method of controlling a robot manipulator, which includes a sensor for detecting an external force during an interaction of the robot manipulator with an environment. The proposed method is characterized in that a force-time curve is determined for the external force acting on the robot manipulator detected by the sensor, and, if the value of the detected external force is higher than a defined threshold value, a safety mode of the robot manipulator is activated, which controls a movement speed and/or a movement direction depending on the detected external force, wherein the movement speed and/or the movement direction of the robot manipulator is/are controlled depending on predetermined medical injury parameters before the safety mode is activated.