Grasp assist device with automatic mode control logic

Patent metadata

Field	Value
Publication number	US-9878452-B2
Application number	US-201514739428-A
Country	US
Kind code	B2
Filing date	Jun 15, 2015
Priority date	Jun 15, 2015
Publication date	Jan 30, 2018
Grant date	Jan 30, 2018

Abstract

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.

First claim

The invention claimed is:

1. A system comprising:
a glove;
a plurality of sensors positioned with respect to the glove, including load sensors configured to measure an actual grasping force applied to an object by an operator wearing the glove, and attitude sensors configured to determine an attitude of the glove;
an actuator assembly operable for providing a grasp assist force via the glove; and
a controller programmed with a respective location of each of a plurality of work cells in a work environment, and also with a set of permitted work tasks for each of the work cells, wherein the controller is further programmed to:
determine a location of the glove within the work environment;
determine the attitude of the glove within the detected location by processing the attitude signals from the attitude sensors;
select a work task from a list of permitted work tasks for the detected location using the determined location and attitude;
calculate a required grasp assist force using the actual grasping force from the load sensors; and
command an application of the required grasp assist force to the object, via the glove using the actuator assembly, to thereby assist the operator in performing the identified work task.

2. The system of claim 1 , further comprising flexible tendons connected to the glove, wherein the actuator assembly is configured to apply the required grasp assist force by applying a tensile force to the flexible tendons.

3. The system of claim 1 , wherein the plurality of sensors includes a location sensor configured to determine the location of the glove within the work environment.

4. The system of claim 3 , wherein the location sensor is a global positioning system (GPS) sensor.

5. The system of claim 3 , wherein the location sensor is a radio frequency identification (RFID) sensor.

6. The system of claim 1 , wherein the attitude sensors include at least one accelerometer.

7. The system of claim 1 , wherein the attitude sensors include at least one joint angle sensor.

8. The system of claim 1 , further comprising a display screen in communication with the controller, wherein the controller is programmed to communicate information regarding the identified work task via the display screen.

9. The system of claim 1 , wherein the controller is programmed to detect a predetermined gesture of the glove and to temporarily discontinue the commanded application of the required grasp assist force in response to the detected predetermined gesture.

10. A method for controlling a system having a glove, load sensors configured to measure an actual grasping force applied to an object by an operator wearing the glove, attitude sensors configured to determine an attitude of the glove, and an actuator assembly operable for applying a required grasp assist force to the glove, the method comprising:
determining a location of the glove within the work environment via a controller;
determining the attitude of the glove within the determined location, via the controller, by processing attitude signals from the attitude sensors;
identifying a work task from a list of permitted work tasks for the determined location using the determined location and attitude;
measuring, via the load sensors, an actual grasping force applied by the operator to an object;
calculating the required grasp assist force for the identified work task via the controller using the measured actual grasping force; and
commanding an application of the required grasp assist force to the object, via the glove using the actuator assembly, to thereby assist the operator in performing the identified work task.

11. The method of claim 10 , wherein the system includes flexible tendons connected to the glove, the method further comprising: applying the required grasp assist force by applying a tensile force to the flexible tendons.

12. The method of claim 10 , wherein the system includes a location sensor operable for determining the location of the glove, and wherein determining the location of the glove includes processing a location signal from the location sensor using the controller.

13. The method of claim 12 , wherein the location sensor is a global positioning system (GPS) sensor.

14. The method of claim 12 , wherein the location sensor is a radio frequency identification (RFID) sensor.

15. The method of claim 10 , wherein determining an attitude of the glove includes using an accelerometer as at least one of the attitude sensors.

16. The method of claim 10 , wherein determining an attitude of the glove includes using a joint angle sensor as at least one of the attitude sensors.

17. The method of claim 10 , further transmitting an output signal from the controller to a display screen within the determined location to thereby present information regarding the identified work task.

18. The method of claim 10 , further comprising:
detecting a predetermined gesture of the glove; and
temporarily discontinuing the application of the required grasp assist force in response to the detected predetermined gesture.

Assignees

• Gm Global Tech Operations Llc
• Nasa

Inventors

• Davis Donald R
• Ihrke Chris A
• Laske Evan

Classifications

• G06F3/014

  Hand-worn input/output arrangements, e.g. data gloves · CPC title

• G01S19/19

  Sporting applications · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• A61F2/70 Primary

  electrical · CPC title