Cambridge, MA, United States
Cambridge, MA, United States

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Patent
Hstar Technologies | Date: 2012-05-01

A medical robotic system comprises a drive track unit being operable for moving the medical robotic system along a floor. An upper torso unit is joined to the drive track unit. The upper torso unit comprises at least one actuator assembly. At least one bimanual dexterous manipulator is joined to the actuator assembly in which the actuator assembly imparts torque and movement to the bimanual dexterous manipulator for lifting an object. The bimanual dexterous manipulator comprises a pair of dexterous manipulators. Each of the dexterous manipulators comprises a length being configured to support lifting an adult patient, and an end comprising a planar structure being configured for placing between the adult patient and a patient platform. The drive track unit is operable for moving the medical robotic system to the patient platform and the bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.


Patent
Hstar Technologies | Date: 2012-05-01

A system comprises a platform being configured for locomotion in a plurality of directions over a surface. A robotic unit is configured for dexterous manipulation comprising at least lifting of objects. The robotic unit is joined to the platform. At least one extender unit is joined to the platform and is configured for controlled extension beyond the platform to contact the surface to stabilize the system at least during the manipulation by the robotic unit. At least one controlling unit is configured to be operable for at least determining a center of gravity and a zero moment point for the system and for at least controlling an extension of the extender unit.


Grant
Agency: Department of Defense | Branch: Navy | Program: SBIR | Phase: Phase I | Award Amount: 79.95K | Year: 2013

Hstar proposes a mobile, advanced, agile, adaptable handling (A3-Hand) system for shipboard mission payload handling. On the LCS seaframes, A3-Hand"s ability to remotely load, unload and transport a wide variety of payloads in and around ISO containers and mission vehicles will immediately improve LCS"s operations efficiency. We anticipate that the A3-Hand platform can become a ubiquitous tool for both the military and industry. Our key innovations includes several components: a highly maneuverable Omni-directional mobile platform with an adaptable footprint, a highly reconfigurable fork / end-effector design with high dexterity and strength for the various types of payloads, an efficient control system and ergonomic control unit, and an intuitive operator feedback system for diagnostic capabilities. The A3-Hand system will be designed with the following consideration; 1) Improved platform motion capability and improved forks/arms positioning capability; 2) Enhanced human-machine interface and enhanced functionality for both LCS seaframes; 3) Enhanced reachability, manipulability, and maneuverability with better controls; 4) Reduced equipment footprint and weight; 5) Reduced operator workload with task space control; and 6) Enhanced robustness with fault detection.


Grant
Agency: Department of Defense | Branch: Army | Program: STTR | Phase: Phase II | Award Amount: 749.94K | Year: 2011

"In this project, Hstar Technologies and its team will develop a near autonomous combat casualty extraction robotic (c2Exbot) system that: 1) supports autonomous dexterous manipulation, safe casualty lifting and near autonomous navigation control, 2) utilizes a supervisory telepresence operation mechanism, 3) provides near autonomous casualty diagnosis, injury assessment and emergency treatment, and d) provides semi-autonomous casualty monitoring and enroute care. The proposed c2Exbot system will be designed and developed by integrating the aforementioned functional components onto Hstar"s existing teleoperational combat casualty extraction robotic system called cRoNA (Combat Robotic Nurse Assistant). The c2Ebot system includes several components. Our primary innovation in c2Exbot consists of a humanoid mobile dexterous robotic manipulation system that can run in near autonomous and supervisory telepresence operation mode. We will leverage the cRoNA system technologies available at Hstar. The state of art c2Exbot will be equipped with autonomous navigation control, patient lifting and extraction functions. It will also incorporate the industry standard JAUS (Joint Architecture for Unmanned Systems) protocols for integration with networked command and control systems."


Grant
Agency: Department of Defense | Branch: Navy | Program: SBIR | Phase: Phase I | Award Amount: 80.00K | Year: 2014

Hstar proposes a mobile, advanced, agile, and adaptable Mission Module handling (A3M2-Hand) system which is compatible with Littoral Combat Ship (LCS) Mission Modules and common to all LCS configurations. Hstar"s innovative approach separates the lifting and transporting of the Mission Modules into two flexible, modular systems. Key subsystems include: highly maneuverable, reconfigurable Omni-directional mobile platforms with differential crab drive wheel units, powerful, compact, bottom lift jacks with twist lock quick connects and high positioning precision and strength for the various types of Mission Modules, an intelligent, sensor-based control system to maximize safety and ease of use, a simple, ergonomic wireless control unit, and an intuitive operator feedback system for diagnostic capabilities. The A3M2-Hand system builds on technology currently being developed for the A3-Hand LCS shipboard mission payload handling system (SBIR N131-054). For all system architecture, Hstar will utilize a modular approach for maintainability, expandability and flexibility to respond to changing fleet needs and opportunities stemming from maturing new technologies.


Grant
Agency: Department of Defense | Branch: Defense Health Program | Program: SBIR | Phase: Phase I | Award Amount: 144.38K | Year: 2011

The current AVESS has targeted to creating fundamental virtual world using tools of Second Life and its user interface is limited to 2D input devices. A wide spectrum of interaction will be needed to enhance this AVESS system to further improve the user"s virtual presence with non-verbal interface such as haptic, visual, kinematic and emotional interaction. Hstar proposes a robotic avatar interactive console (RAIC) system for enhancing AVESS user interface capacity. The proposed RAIC will be archived by integrating robotic haptic interaction devices, visual capture and 3D head-mount display in virtual environment, and kinematic motion and posture capture via wearable sensing devices. This system will: 1) provides 3D amputee-avatar haptic interface, 2) supports 3D immersive visual capture and display in AVESS environment, 3) provides remote patient monitoring and physical accessibility to therapist, 4) provides a remote platform for necessary at-home therapy procedures, and 5) supports kinematic capture of patient motion and body postures and representing on avatar model. Our primary innovation is a 3D robotic avatar interactive interface console for the AVESS that provides safe haptic, visual, and therapeutic interaction via the creative virtual world for the combat injured amputee patients.


Grant
Agency: Department of Defense | Branch: Defense Health Program | Program: SBIR | Phase: Phase I | Award Amount: 149.93K | Year: 2012

Hstar proposes a real-time wearable amputee rehabilitation monitor (WARM) system. It will enhance amputee rehabilitation process with metabolic cost monitoring, gait analysis, and comfort analysis. It will support users Activities of Daily Living (ADL) and provide physicians, physical therapists and prosthetists important information of lower limb amputees to achieve successful rehabilitation process and identify any potential issues that may arise at patient-prosthetic intervention for a synergetic prosthetic integration. This can be achieved through combination of sensory fusion for metabolic cost estimation utilizing embedded sensing on prosthetic device and optional wearable sensing information from physiological, kinematic and kinetic sensing with gait analysis and emotional sensing (e.g., affective computing). This system will: 1) support real-time metabolic cost monitoring using embedded prosthetic sensing and additional wearable sensing, 2) provide gait analysis to achieve synergetic locomotion via parameter optimization, 3) support affective computing to enhance amputee patients comfort with prosthetic rehabilitation and recovered locomotion, 4) provide a remote platform for necessary continuous at-home therapy procedures through telepresence supervision, and 5) support live monitoring of amputees rehabilitation status remotely in telepresence mode to further enhance amputee patient healthcare and QOL (Quality of Life).


Grant
Agency: NSF | Branch: Standard Grant | Program: | Phase: | Award Amount: 117.57K | Year: 2014

Ebola virus spreads through human-to-human transmission via direct contact with the blood, secretions, organs or other bodily fluids of infected people, and with surfaces and materials contaminated with these fluids. Hstar Technologies is developing and validating the Advanced Mobile Lifting and Transferring Robotic Nursing Assistant for Contagious Patients as a viable means for transporting patient without direct contact by care givers. A unique linkage system allows powerful, safe, and flexible lifting and positioning of the patient with a minimal number of actuators. The lifting mechanism is mounted on a low profile, stable and flexible footprint robotic mobile base for various terrains and among buildings. A simple, intuitive user interface allows control by a single caregiver with minimal training beside the robot or remotely.

This research includes developing feasible and novel cooperative nurse-robot protocols that will result in healthcare enhancement for both patients and caregivers. This project utilizes rapidly deployable, articulated robotic arms with gentle conveyor belts in reaction of urgent outbreak of contagious disease. Hstar Technologies is drawing upon its expertise in autonomous mobile platform, human robot interaction, operation control, robotic dexterous manipulation, and haptics.


Grant
Agency: Department of Defense | Branch: Air Force | Program: SBIR | Phase: Phase I | Award Amount: 99.94K | Year: 2011

Hstar proposes an advanced Omni-directional intelligent robotic pallet (i-Pbot) system for military cargo handling. The proposed i-Pbot will be designed and developed by integrating Onmi-directional Wheel Technologies for high mobility in confined spaces, high strength Hydraulic Series Elastic Actuators (SEA) for Active Compliance Control (actuation, suspension, and sensing), Telerobotics Control for enhancing the guidance of robotic pallets, and wireless sensor network for self-location capability. This system will: 1) autonomously on-load, transport and off-load cargo; 2) self-configure a network of systems that communicate within the group and with external devices/operators; 3) include intelligent navigation control and high level motion planning; 4) provide telepresence robotic control; 5) monitor inventory and system status; and 6) integrate logistics management. Our primary innovation is an automated robotic pallet system with omni-directional wheel and hydraulic compliance actuation that can run in telepresence operation mode with local process autonomy. i-Pbot will leverage core Hstar technologies including robotic actuator, omni-directional wheel, and sensor fusion. Other key features include high degrees of mobility and power actuation, intuitive OCU, advanced dynamic control, and wireless sensors for integration with networked command and control systems. BENEFIT: An automated robotic pallet system with omni-directional wheel and hydraulic compliance actuation is a crucial enabling technology for the military air cargo handling. Applications include commercial air flight cargo handling, human-safe autonomous navigation and perception system, and integrated sensor-based inventory monitoring system. Additional applications include 1) Container and Truck Loading/Unloading, 2) Warehouse Assistant Robot, and 3) Manufacturing Plant Floor Automation.


Grant
Agency: Department of Defense | Branch: Army | Program: SBIR | Phase: Phase II | Award Amount: 729.97K | Year: 2010

During Phase II period, Hstar Technologies plan to prototype an advanced telepresence robotic dexterous manipulator dMan system for enhancing the capabilities of autonomous container loading and unloading process operation at battlefield. The proposed dMan system will 1) provide advanced dexterous manipulation and sufficient strength to open doors and load/unload container boxes over 300 lbs, 2) navigate intelligently with a mobile holonomic drive, 3) work safely and robustly in telepresence mode and local autonomous mode, and 4) perform reliably under inclement conditions. Hstar will develop an enhanced Electric motor Hydraulic transmission Series Elastic Actuator (EHSEA) based humanoid manipulator system that is capable of advanced dexterous manipulation, haptic feedback and safe operation with local autonomous control as well as telepresence operation control. This dMan system will be capable of complex dexterous manipulation such has container door opening, and will be strong enough to load/ unload container boxes over 300 lbs. In addition, the dMan’s mobile robotic platform will provide holonomic control capable of full maneuverability using omni-directional wheel technology. Our telepresence operation control and local autonomous control will provide safe and robust operation in the ISO container applications in conjunction with available technologies.

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