Control system for a grasping device
AssigneeVanderbilt University
InventorsMichael Goldfarb, Skyler Dalley, Huseyin Atakan Varol
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Abstract
A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.
Claims18
A method for operating a grasping device using a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device, the method comprising:
- receiving at least one control signal;
- determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device;
- and
- selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal,
- wherein a first of the plurality of state flows comprises a sequence comprising a platform pose with the thumb in repose, a pointing pose, a hook pose, and a lateral pinch pose.
A grasping device, comprising:
- a plurality of joints;
- a memory for storing a plurality of parallel, bi-directional state flow maps that each defining a sequence of poses for the plurality of joints;
- and
- a processor communicatively coupled to the memory and the plurality of joints, wherein the processor is configured for:
- receiving at least one control signal;
- determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device;
- and
- selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal,
- wherein a first of the plurality of state flows comprises a sequence comprising a platform pose with the thumb in repose, a pointing pose, a hook pose, and a lateral pinch pose, a second of the plurality of state flows comprises a sequence comprising a platform pose with the thumb in opposition, a tip pose, and a chuck pose, and wherein the grasping device can only switch between the first of the plurality of state-flow maps and the second of the plurality of state-flow maps only from corresponding platform poses.
A grasping device, comprising:
- a plurality of joints;
- a memory for storing a plurality of parallel, bi-directional state flow maps that each defining a sequence of poses for the plurality of joints;
- and
- a processor communicatively coupled to the memory and the plurality of joints, wherein the processor is configured for:
- receiving at least one control signal;
- determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device;
- and
- selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal,
- wherein the at least one control signal is based on an at least one electromyogram (EMG) signal, wherein the at least one EMG signal is received from first and second channels of EMG signals, wherein the first channel of EMG signals is used to provide control signals for traversing the plurality of poses in a first direction and the second channel of EMG signals is used to provide control signals for traversing the plurality of poses in a second direction opposite to the first direction, and wherein a co-contraction in at least one of the first and second channels of EMG is used to provide control signals for transitioning between different ones of the plurality of state flow maps.
Dependencies are inferred from the claim text.