Anthropomorphic master/slave manipulator system
First Claim
1. A master/slave manipulator system, comprising:
- master arm means including first and second master tubular portions, each master tubular portion defining an axis centrally therethrough, said first and said second master portions each having a first end lying in a plane substantially perpendicular to the axis of the respective portions and a second end lying in a plane transverse to the plane defined by said first end, said second ends being adjacent one another such that when said first ends are parallel to one another the respective axes are colinear, said first and said second master portions being relatively rotatable at said adjacent second ends;
master transducing means responsive to the relative rotation between said first and said second tubular portions and operative to provide a driving signal;
slave arm means comprising first and second slave tubular portions, each slave tubular portion defining an axis centrally therethrough, said first and said second slave portions each having a first end lying in a plane substantially perpendicular to the axis of the respective portion and a second end lying in a plane transverse to the plane defined by said first end, said second ends being adjacent one another such that when said first ends are parallel to one another the respective axes are colinear, said first and said second slave portions being relatively rotatable at said adjacent second ends;
slave transducing means responsive to said driving signal and operative to drivingly rotate said first slave tubular portion relative to said second slave tubular portion through an angle that corresponds to the relative rotation between said first and said second master tubular portions; and
communication means linking said master transducing means and said slave transducing means for applying said driving signal to said slave transducing means;
whereby rotation between said first and said second master tubular portions of said master arm means causes a corresponding rotation between said first and said second slave tubular portions of said slave arm means.
0 Assignments
0 Petitions
Accused Products
Abstract
An anthropomorphic master/slave manipulator system including master arm apparatus including a plurality of master tubular articulated portions which are coaxially adjacent one another and relatively rotatable, master transducing apparatus responsive to the relative rotation of the adjacent tubular portions and operative to provide a driving signal, slave arm apparatus including a plurality of slave tubular portions corresponding to those portions of the master arm apparatus, the slave tubular portions being coaxially adjacent one another and relatively rotatable, slave transducing apparatus responsive to the driving signal and operative to drivingly rotate the slave tubular portions through an angle that corresponds to the relative rotation of the corresponding master arm tubular portions, and a communication link between the master transducing apparatus and the slave transducing apparatus for applying the driving signal to the slave transducer.
-
Citations
26 Claims
-
1. A master/slave manipulator system, comprising:
-
master arm means including first and second master tubular portions, each master tubular portion defining an axis centrally therethrough, said first and said second master portions each having a first end lying in a plane substantially perpendicular to the axis of the respective portions and a second end lying in a plane transverse to the plane defined by said first end, said second ends being adjacent one another such that when said first ends are parallel to one another the respective axes are colinear, said first and said second master portions being relatively rotatable at said adjacent second ends; master transducing means responsive to the relative rotation between said first and said second tubular portions and operative to provide a driving signal; slave arm means comprising first and second slave tubular portions, each slave tubular portion defining an axis centrally therethrough, said first and said second slave portions each having a first end lying in a plane substantially perpendicular to the axis of the respective portion and a second end lying in a plane transverse to the plane defined by said first end, said second ends being adjacent one another such that when said first ends are parallel to one another the respective axes are colinear, said first and said second slave portions being relatively rotatable at said adjacent second ends; slave transducing means responsive to said driving signal and operative to drivingly rotate said first slave tubular portion relative to said second slave tubular portion through an angle that corresponds to the relative rotation between said first and said second master tubular portions; and communication means linking said master transducing means and said slave transducing means for applying said driving signal to said slave transducing means; whereby rotation between said first and said second master tubular portions of said master arm means causes a corresponding rotation between said first and said second slave tubular portions of said slave arm means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
-
-
23. A master/slave manipulator system comprising:
-
master arm means including a first tubular portion and a second tubular portion adjacent said first tubular portion, a first circular bearing comprising a plurality of balls engaged between an outer circular race and an inner circular race, first and second rings, said outer and said inner races being connected to said adjacent first and second portions, respectively, by said first and second rings, respectively, whereby said adjacent portions are relatively rotatable; master transducing means responsive to the relative rotation between said adjacent portions and operative to provide a driving signal; slave arm means comprising a third tubular portion and a fourth tubular portion adjacent said third tubular portion, a second circular bearing comprising a plurality of balls engaged between a second outer circular race and a second inner circular race, third and fourth rings, said second outer and inner races being connected to said adjacent slave tubular portions, respectively, by said third and fourth rings, respectively; slave transducing means responsive to said driving signal and operative to drivingly rotate said third ring relative to said fourth ring; and communication means linking said master transducing means and said slave transducing means for applying said driving signal to said slave transducing means; whereby relative rotation between said first and said second adjacent tubular portions of said master arm means causes a corresponding rotation between said third and said fourth adjacent tubular portions of said slave arm means.
-
-
24. A master/slave manipulator system comprising:
-
master suit means comprising an upper body covering portion, master arm means connected to said upper body portion, and master leg means connected to said upper body covering portion; said master arm means including at least a first and a second master tubular portion, and said master leg means including at least a third and a fourth master tubular portion, said master tubular portions being adjacent one another; a plurality of master bearing members, one of said bearing members interconnecting adjacent master tubular portions of said master suit and being relatively rotatable, whereby said adjacent master portions are relatively rotatable; master transducing means responsive to the relative rotation of each of said master bearing members and operative to provide a plurality of driving signals each said driving signal representative of the relative rotation between one set of adjacent master tubular portions; slave suit means comprising slave arm means and slave leg means, said slave arm means including a first and a second slave tubular portion, and said slave leg means including at least a third and a fourth slave tubular portion, said slave tubular portions being adjacent one another; a plurality of slave bearing members, one of said slave bearing members interconnecting adjacent slave tubular portions and being relatively rotatable, whereby said adjacent slave tubular portions are relatively rotatable; a plurality of slave transducing means, each said slave transducing means responsive to the corresponding driving signal and operative to relatively rotate the corresponding slave bearing member; and communication means linking said master transducing means and said plurality of slave transducing means for applying said plurality of driving signals to the corresponding one of said plurality of said slave transducing means, whereby rotation between said adjacent master portions of said master suit causes a corresponding rotation between said adjacent slave portions of said slave suit means. - View Dependent Claims (25)
-
-
26. A master/slave manipulator system comprising:
-
means for generating a plurality of signals each of which corresponds to the relative motion between different adjacent zones of a human limb; slave means comprising a plurality of tubular portions each having a longitudinal axis, a first circular-shaped end occupying a plane that is perpendicular to its respective longitudinal axis, and a second circular-shaped end occupying a plane that is oblique to its respective longitudinal axis; means for rotatably connecting said tubular portions in serial fashion, each portion being alternatively oriented wherein the first end of a tubular portion is connected to the first end of an adjacent tubular portion and the second end of a tubular portion is connected to the second end of an adjacent tubular portion; transducing means responsive to said driving signals and operative to drivingly rotate said tubular portions and simulate the movement of a human limb; means for applying said driving signals to said tansducing means; said slave means simulating the movement of a limb of an operator; and said generating means including a series of rotatably interconnected tubular portions that are adapted to be worn over said limb of the operator.
-
Specification