Grasp Assist Device with Automatic Mode Control Logic

Davis, Donald R [Inventor]Ihrke, Chris A [Inventor]Laske, Evan [Inventor]

关键词: ACTUATORS;    CONTROL EQUIPMENT;    CONTROL SYSTEMS DESIGN;    HUMAN FACTORS ENGINEERING;    LOGIC DESIGN;    PATENTS;    ATTITUDE CONTROL;    AUTOMATIC CONTROL;    LOADS (FORCES);    POSITION (LOCATION);    SEQUENTIAL CONTROL;   

RP-ID  :  US-Patent-9,878,452, US-Patent-Appl-SN-14/739,428

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.