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1
US10884417B2
Navigation of mobile robots based on passenger following
Publication/Patent Number: US10884417B2 Publication Date: 2021-01-05 Application Number: 15/806,213 Filing Date: 2017-11-07 Inventor: Asada, Haruhiko Harry   Assignee: Boston Incubator Center, LLC   East Japan Railway Company   IPC: G05D1/02 Abstract: Methods and systems for navigating a mobile robot through a crowded pedestrian environment by selecting and following a particular pedestrian are described herein. In one aspect, a navigation model directs a mobile robot to follow a pedestrian based on the position and velocity of nearby pedestrians and the current and desired positions of the mobile robot in the service environment. The mobile robot advances toward its desired destination by following the selected pedestrian. By repeatedly sampling the positions and velocities of nearby pedestrians and the current location, the navigation model directs the mobile robot toward the endpoint location. In some examples, the mobile robot selects and follows a sequence of different pedestrians to navigate to the desired endpoint location. In a further aspect, the navigation model determines whether following a particular pedestrian will lead to a collision with another pedestrian. If so, the navigation model selects another pedestrian to follow.
2
US11000944B2
Foot touch position following apparatus, method of controlling movement thereof, and non-transitory computer-readable information recording medium storing the same
Publication/Patent Number: US11000944B2 Publication Date: 2021-05-11 Application Number: 15/567,676 Filing Date: 2016-04-15 Inventor: Asada, Haruhiko Harry   Takeuchi, Kosuke   Assignee: Massachusetts Institute of Technology   IPC: B25J9/16 Abstract: A foot touch position following apparatus includes a foot touch position detection part configured to detect a position where a human foot touches a surface; and a moving part configured to move the foot touch position following apparatus based on the detected result of the foot touch position detection part.
3
US2021126562A1
APPARATUS AND METHOD OF TORQUE-BOOST DUAL-MOTOR SYSTEM
Publication/Patent Number: US2021126562A1 Publication Date: 2021-04-29 Application Number: 17/079,391 Filing Date: 2020-10-23 Inventor: Asada, Haruhiko Harry   Bell, John   Assignee: Massachusetts Institute of Technology   IPC: H02P5/747 Abstract: Embodiments disclosed herein include a first motor having a high gear ratio, a second motor having a low gear ratio, and a drive shaft, the first and second motors being connected to a load via the drift shaft. The motor system is arranged to at least one of electrically and mechanically disconnect the first motor when a speed of the first motor reaches a threshold speed such that the first motor does not act as a generator and consume mechanical power. In some embodiments, the first motor is a torque booster and the second motor is a high speed motor. The first motor may be electrically disconnected via one or more relays, couplers, and additional switching semiconductors. The first motor may be mechanically disconnected via a clutch.
4
US11000945B2
Wearable robotic systems for supporting a load
Publication/Patent Number: US11000945B2 Publication Date: 2021-05-11 Application Number: 16/020,823 Filing Date: 2018-06-27 Inventor: Asada, Haruhiko Harry   Gonzalez, Daniel J.   Assignee: Massachusetts Institute of Technology   IPC: B25J9/00 Abstract: Wearable robotic systems including robotic limbs for supporting a load while a user moves through an environment and their methods of use are described. In one embodiment, a robotic system includes robotic limbs with first and second robotic limb segments that are movable between different configurations to support a load while a user is standing or crawling. In another embodiment, a robotic system includes first and second robotic limbs that are substantially located within a plane parallel to a frontal plane of a user when the robotic system is worn. In another embodiment, a wearable robotic system includes first and second robotic limbs and an associated base that is attachable to a user's torso. The first and second robotic limbs may include a plurality of actuators and associated robotic limb segments to couple the robotic legs to the base and control their movement.
5
US2021022513A1
Lower Body Support System To Facilitate Floor Level Task Execution By Humans
Publication/Patent Number: US2021022513A1 Publication Date: 2021-01-28 Application Number: 16/938,839 Filing Date: 2020-07-24 Inventor: Takeuchi, Kosuke   Shudo, Kazumasa   Kim, Juyoung   Liu, Sheng   Asada, Haruhiko Harry   Assignee: Empower Robotics Corporation   Sumitomo Heavy Industries, Ltd.   IPC: A47C9/10 Abstract: Wearable systems to partially support the weight of a human user engaged in task performance in a crouched position at or near ground level are presented herein. In one aspect, the wearable systems employ passive mechanisms and the configuration of the support mechanisms is changed by movements of the body of the human user while transitioning from a standing position to a crouched position, and vice-versa. In a further aspect, each passive lower body support assembly includes an auxiliary body support structure to enhance the support of the human user in a crouched position. In another further aspect, each auxiliary body support structure is deployed in coordination with the movement of the seat support structure that supports the human user. In some embodiments, one or more body support structures are constructed from an elastic material that conforms to the ground surface when loaded by the weight of the human user.
6
US10561507B1
Wearable grippers for hemiplegic patients
Publication/Patent Number: US10561507B1 Publication Date: 2020-02-18 Application Number: 15/183,677 Filing Date: 2016-06-15 Inventor: Asada, Haruhiko Harry   Assignee: Boston Incubator Center, LLC   IPC: A61F2/70 Abstract: Methods and systems for assisting hemiplegic and hemiparetic patients are described herein. A wearable gripper system assists a user with one functional hand to independently perform basic tasks. A wearable gripper is located on the forearm above a disabled hand. The user controls the wearable gripper easily and intuitively based on gestures measured by an instrumented wristband device. Movements detected at the functioning wrist and forearm are translated into the motion control commands communicated to the actuators of the wearable gripper. In this manner, the wearable gripper assists the user to manipulate objects in lieu of the disabled hand. In some embodiments, a number of conductive, stretchable string sensors are wrapped around the hand of a user to estimate wrist and hand motion. In some embodiments, a gripper actuator includes two or more fingers, each having a location dependent shape profile and compliance to accommodate different manipulation tasks.
7
US10576617B1
Service robot having movable center of mass
Publication/Patent Number: US10576617B1 Publication Date: 2020-03-03 Application Number: 15/243,364 Filing Date: 2016-08-22 Inventor: Asada, Haruhiko Harry   Assignee: Boston Incubator Center, LLC   IPC: B25J5/00 Abstract: A service robot includes a wheeled, robotic vehicle and a movable payload platform. A position of the payload platform is controlled to reduce the distance between the center of mass of the service robot and a center of rotation of the vehicle moving along a motion trajectory. Induced centrifugal forces are reduced, allowing for safe operation at higher speeds. In some examples, the payload platform is moved such that the center of mass of the service robot is approximately aligned with the center of rotation of the vehicle. In some embodiments, at least one wheel of the service robot is controlled to maintain a level orientation of the service robot as it traverses uneven terrain. In some embodiments, the service robot includes an inflatable torso structure that allows an upper body robot to bend in a controlled manner to interact with users and a payload loaded onto the payload platform.
8
US2020384637A1
SCISSOR LINKAGE DESIGN AND METHOD OF OPERATION
Publication/Patent Number: US2020384637A1 Publication Date: 2020-12-10 Application Number: 16/672,292 Filing Date: 2019-11-01 Inventor: Asada, Haruhiko Harry   Teshigawara, Seiichi   Assignee: Massachusetts Institute of Technology   IPC: B25J9/10 Abstract: Scissor linkage designs and methods of operation are disclosed. In one embodiment, a robotic limb includes a scissor linkage. In one embodiment, the scissor linkage includes a rotatable connection, two proximal links, and two motors configured to selectively rotate the two proximal links. Relative rotation between the two proximal links selectively controls extension, retraction, and rotation of the scissor linkage. Additional embodiments are related to scissor linkages including links designed to be have specific length relationships to avoid a singularity occurring during operation. In some embodiments, links may include torque transmissions to avoid singularities and/or to transmit torques to a distal portion of a scissor linkage for use in actuating other components including another scissor linkage arranged in series with first.
9
US2020408640A1
Methods And Systems For Testing Robotic Systems In An Integrated Physical And Simulated Environment
Publication/Patent Number: US2020408640A1 Publication Date: 2020-12-31 Application Number: 16/914,217 Filing Date: 2020-06-26 Inventor: Asada, Haruhiko Harry   Weaver, Kota   Assignee: Skylla Technologies, Inc.   IPC: G01M17/00 Abstract: Methods and systems for testing robotic systems in an environment blending both physical and virtual test environments are presented herein. A realistic, three dimensional physical environment for testing and evaluating a robotic system is augmented with simulated, virtual elements. In this manner, robotic systems, humans, and other machines dynamically interact with both real and virtual elements. In one aspect, a model of a physical test environment and a model of a virtual test environment are combined, and signals indicative of a state of the combined model are employed to control a robotic system. In a further aspect, a mobile robot present in a physical test environment is commanded to emulate movements of a virtual robot under control. In another further aspect, images of the virtual robot under control are projected onto the physical test environment to provide a visual representation of the presence and action taken by the virtual robot.
10
US2020406457A1
EXTENDING AND RETRACTING ROBOTIC LIMB
Publication/Patent Number: US2020406457A1 Publication Date: 2020-12-31 Application Number: 16/903,787 Filing Date: 2020-06-17 Inventor: Asada, Haruhiko Harry   Yan, Tongxi   Assignee: Massachusetts Institute of Technology   IPC: B25J9/16 Abstract: Robotic limbs and methods of operating robotic limbs are described. In some embodiments, a robotic limb includes a chain and a growing point. The growing point is configured to selectively move links through the growing point, and to rotationally lock and/or unlock each link relative to adjacent links as they are moved through the growing point. In some embodiments, a robotic system includes two or more robotic limbs arranged in a parallel configuration. The growing points of the robotic limbs are connected such that the robotic system steers by selectively growing one robotic limbs relative to the other robotic limb(s). In some embodiments, a method of operating a robotic limb includes drawing a link of a chain into a growing point, rotating the growing point relative to a rigid portion of the chain, and locking a relative angle between the link and at least one other link of the chain.
11
US2020326778A1
SENSING AND CONTROL SYSTEMS
Publication/Patent Number: US2020326778A1 Publication Date: 2020-10-15 Application Number: 16/827,289 Filing Date: 2020-03-23 Inventor: Asada, Haruhiko Harry   Guggenheim, Jacob   Assignee: Massachusetts Institute of Technology   IPC: G06F3/01 Abstract: A system and a method for controlling a system are described. The system includes a plurality of sensors configured to be worn on a user's body. The plurality of sensors are configured to generate a plurality of signals in response to forces applied by corresponding portions of a user's body. The system also includes a processor configured to receive the plurality of signals. The processor is configured to identify commands from the user based at least partly on the plurality of signals and an operational range and/or null space of the plurality of signals for a task being performed by the user. The processor is configured to control an operation of the system based on the identified commands.
12
US2020024828A1
AUTOMATED CONTROL FOR EXCAVATORS
Publication/Patent Number: US2020024828A1 Publication Date: 2020-01-23 Application Number: 16/412,295 Filing Date: 2019-05-14 Inventor: Asada, Haruhiko Harry   Sotiropoulos, Filippos Edward   Assignee: Massachusetts Institute of Technology   IPC: E02F9/20 Abstract: Methods and systems related to operating an excavator during a digging cycle are described. In some embodiments, a nominal path of a bucket connected to one or more linkages of the excavator may be commanded. A correction to the commanded nominal path may be applied to maximize a power applied by at least one of the one or more linkages of the excavator during at least a portion of the digging cycle.
13
US202024828A1
AUTOMATED CONTROL FOR EXCAVATORS
Publication/Patent Number: US202024828A1 Publication Date: 2020-01-23 Application Number: 20/191,641 Filing Date: 2019-05-14 Inventor: Asada, Haruhiko Harry   Sotiropoulos, Filippos Edward   Assignee: Massachusetts Institute of Technology   IPC: E02F9/20 Abstract: Methods and systems related to operating an excavator during a digging cycle are described. In some embodiments, a nominal path of a bucket connected to one or more linkages of the excavator may be commanded. A correction to the commanded nominal path may be applied to maximize a power applied by at least one of the one or more linkages of the excavator during at least a portion of the digging cycle.
14
US10786910B2
Extending robotic arm
Publication/Patent Number: US10786910B2 Publication Date: 2020-09-29 Application Number: 16/107,088 Filing Date: 2018-08-21 Inventor: Asada, Haruhiko Harry   Shikari, Abbas Munir   Assignee: Massachusetts Institute of Technology   IPC: B25J17/00 Abstract: Expandable robotic arms are described. A robotic arm may include a series of expandable segments connected to each other. Further, each of the expandable segments may be individually controlled to expand and/or tilt with one or two tilt degrees of freedom. In operation, the robotic arm may expand sequentially segment by segment from a proximal most segment to a distal most segment to reach a target position and orientation from an initial position and orientation. A variety of methods and algorithms for pathfinding and otherwise operating such a robotic arm are also described.
15
US10867377B2
Determining soil state and controlling equipment based on captured images
Publication/Patent Number: US10867377B2 Publication Date: 2020-12-15 Application Number: 15/851,526 Filing Date: 2017-12-21 Inventor: Asada, Haruhiko Harry   Sotiropoulos, Filippos Edward   Assignee: Massachusetts Institute of Technology   IPC: G06T7/00 Abstract: Methods and systems for controlling earth moving equipment are described. In some embodiments, a stream of images may be captured using at least one imaging system. At least one state of soil may be determined in real time relative to the earth moving equipment based on the captured stream of images. At least one aspect of the earth moving equipment's operation may then be controlled based on the determined at least one state of the soil.
16
EP3471680A1
COMPLIANT BODY SUPPORT SYSTEM FOR CROUCHING AND KNEELING WORK
Publication/Patent Number: EP3471680A1 Publication Date: 2019-04-24 Application Number: 17816074.3 Filing Date: 2017-06-20 Inventor: Asada, Haruhiko Harry   Assignee: Boston Incubator Center, LLC   IPC: A61H1/00
17
US10391634B2
Apparatus and method for supporting a human body using supernumerary artificial limbs
Publication/Patent Number: US10391634B2 Publication Date: 2019-08-27 Application Number: 15/310,860 Filing Date: 2014-05-16 Inventor: Asada, Haruhiko Harry   Parietti, Federico   Assignee: Massachusetts Institute of Technology   IPC: G05B15/00 Abstract: An apparatus includes at least one supernumerary artificial limb and a base structure configured to couple with a human body. The base structure includes a sensor that obtains a measurement regarding load of the human body. The proximal end of the supernumerary artificial limb is coupled to the base structure. The apparatus further includes a processor operatively coupled with the sensor and configured to receive the measurement from the sensor. The processor is also configured to generate a control signal to change at least one of a position of the supernumerary artificial limb and a torque exerted by the supernumerary artificial limb based on the measurement regarding the load.
18
US10286558B1
Autonomous robotic vehicles for mobile storage and trash collection applications
Publication/Patent Number: US10286558B1 Publication Date: 2019-05-14 Application Number: 15/491,886 Filing Date: 2017-04-19 Inventor: Asada, Haruhiko Harry   Asada, Kumiko   Assignee: Boston Incubator Center, LLC   IPC: G01C21/00 Abstract: Methods and systems for autonomously interacting with persons in a public environment to store and transport their personal material items are described herein. A service robot includes one or more secure storage cells, and is configured to collect items such as personal belongings, refuse, etc., from users and transport the collected items to different locations. The service robot maneuvers through a crowded environment autonomously, avoiding collisions with people and objects, and minimizing disturbances to traffic flow. Users indicate a desire to store and transport items to a desired location. In response, the service robot unlocks a lid of a storage cell, and the user is able to load material items. In some examples, access to the storage cell is controlled based on access codes. In some examples, access to the storage cell is controlled based on receipt of an electronic payment.
19
US201954637A1
EXTENDING ROBOTIC ARM
Publication/Patent Number: US201954637A1 Publication Date: 2019-02-21 Application Number: 20/181,610 Filing Date: 2018-08-21 Inventor: Asada, Haruhiko Harry   Shikari, Abbas Munir   Assignee: Massachusetts Institute of Technology   IPC: F16H21/54 Abstract: Embodiments described herein relate to expandable robotic arms. According to some embodiments, the robotic arm may include a series of expandable segments connected to each other. Further, each of the expandable segments may be individually controlled to expand and/or tilt with one or two tilt degrees of freedom. In operation, the robotic arm may expand sequentially segment by segment from a proximal most segment to a distal most segment to reach a target position and orientation from an initial position and orientation. A variety of methods and algorithms for pathfinding and otherwise operating such a robotic arm are also described.
20
US2019054637A1
EXTENDING ROBOTIC ARM
Publication/Patent Number: US2019054637A1 Publication Date: 2019-02-21 Application Number: 16/107,088 Filing Date: 2018-08-21 Inventor: Asada, Haruhiko Harry   Shikari, Abbas Munir   Assignee: Massachusetts Institute of Technology   IPC: B25J18/02 Abstract: Embodiments described herein relate to expandable robotic arms. According to some embodiments, the robotic arm may include a series of expandable segments connected to each other. Further, each of the expandable segments may be individually controlled to expand and/or tilt with one or two tilt degrees of freedom. In operation, the robotic arm may expand sequentially segment by segment from a proximal most segment to a distal most segment to reach a target position and orientation from an initial position and orientation. A variety of methods and algorithms for pathfinding and otherwise operating such a robotic arm are also described.
Total 5 pages