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. 22, 2013
Filed:
Mar. 10, 2010
Muhammad E. Abdallah, Houston, TX (US);
Chris A. Ihrke, Hartland, MI (US);
Matthew J. Reiland, Oxford, MI (US);
Charles W. Wampler, Ii, Birmingham, MI (US);
Myron A. Diftler, Houston, TX (US);
Robert Platt, Cambridge, MA (US);
Lyndon Bridgwater, Houston, TX (US);
Muhammad E. Abdallah, Houston, TX (US);
Chris A. Ihrke, Hartland, MI (US);
Matthew J. Reiland, Oxford, MI (US);
Charles W. Wampler, II, Birmingham, MI (US);
Myron A. Diftler, Houston, TX (US);
Robert Platt, Cambridge, MA (US);
Lyndon Bridgwater, Houston, TX (US);
GM Global Technology Operations LLC, Detroit, MI (US);
The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC (US);
Abstract
A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.