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. 22, 2016
Filed:
May. 31, 2011
Applicants:
Daniel Caleb Rucker, Nashville, TN (US);
Robert James Webster, Nashville, TN (US);
Inventors:
Daniel Caleb Rucker, Nashville, TN (US);
Robert James Webster, Nashville, TN (US);
Assignee:
VANDERBILT UNIVERSITY, Nashville, TN (US);
Primary Examiner:
Int. Cl.
CPC ...
G05B 15/00 (2006.01); G05B 19/00 (2006.01); B25J 9/16 (2006.01); B25J 18/06 (2006.01); B25J 15/12 (2006.01);
U.S. Cl.
CPC ...
B25J 9/16 (2013.01); B25J 9/1625 (2013.01); B25J 9/1635 (2013.01); B25J 15/12 (2013.01); B25J 18/06 (2013.01); G05B 2219/39186 (2013.01); G05B 2219/40279 (2013.01); Y10S 901/31 (2013.01);
Abstract
Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.