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:
Mar. 31, 2020
Filed:
Nov. 08, 2017
The Board of Trustees of the Leland Stanford Junior University, Palo Alto, CA (US);
David B. Camarillo, San Francisco, CA (US);
Jake A. Sganga, Stanford, CA (US);
The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US);
Abstract
Autonomous closed loop control of a flexible tendon-driven continuum manipulator having a sensor at a distal tip is performed by measuring spatial attributes of a sensor at the distal tip and estimating an orientation of a base of an articulating region of the flexible tendon-driven continuum manipulator from a kinematic model and the spatial attributes of the sensor. The manipulator control in a task space uses the estimated orientation, a desired trajectory in the task space, and the position of the sensor at the distal tip. The sensor at the distal tip may be a magnetic sensor, impedance sensor, or optical sensor.