1
Niall R Parker, Peter D Lawrence, Septimiu E Salcudean: Velocity controller with force feedback stiffness control. The University of British Columbia, C A Rowley, April 30, 1996: US05513100 (177 worldwide citation)

A force feedback velocity control measures the forces adjacent the end point of an arm being controlled and adjusts the stiffness of a manual controller in any one direction by scaling the end point force in the corresponding direction and adjusting the scaled force based on the degree of displaceme ...


2
Septimiu E Salcudean, Graham S Bell, Peter D Lawrence, Alexei Marko, Michael Jameson: Robotically assisted medical ultrasound. The University of British Columbia, Oyen Wiggs Green & Mutala, July 30, 2002: US06425865 (151 worldwide citation)

A system for medical ultrasound in which the ultrasound probe is positioned by a robot arm under the shared control of the ultrasound operator and the computer is proposed. The system comprises a robot arm design suitable for diagnostic ultrasound, a passive or active hand-controller, and a computer ...


3
Alexei J Marko, James A McEwen, Brian Day, Michael Jameson, Septimiu E Salcudean, Peter D Lawrence: Apparatus and method for evaluation of shoulder stability. ipsolon, July 6, 1999: US05919148 (24 worldwide citation)

Apparatus for evaluating the stability of the shoulder joint of a human subject includes a rotatable, elbow-holding assembly that has sensors and associated processing components for producing an indication of the rotational angle of the long axis of the humerus of the subject relative to a referenc ...


4
Nariman Sepehri, Real N Frenette, Peter D Lawrence: Proportional hydraulic control. University of British Columbia, C A Rowley, December 1, 1992: US05167121 (24 worldwide citation)

A hydraulic control system for a multi-linked manipulator arm monitors the desired flow of hydraulic fluid to each of the actuators for the links of the manipulator, and when the desired flow to any one or more of the actuators exceeds the available flow to the respective actuators, the flows to all ...


5
Peter D Lawrence, Robert V Ross: Articulated arm control. MacMillan Bloedel, November 5, 1991: US05062755 (19 worldwide citation)

A system for controlling x, y and z directional movement of a point adjacent to the free end of an arm composed of a plurality of interconnected articulated arm segments mounted for movement relative to at least three axes and providing for individual, independent control of movement of the point in ...


6
STephen K C Chan, Peter D Lawrence: Manipulator arm position sensing. University of British Columbia, C A Rowley, January 9, 1990: US04893254 (18 worldwide citation)

A method of controlling the movement of an articulated arm to permit the arm to move an end point thereof more freely and more directly to a preselected target. This smoother operation is obtained by a computer calculating the change in joint angle using an iterative pseudo inverse Jacobian having a ...


7
Nariman Sepehri, Real N Frenette, Peter D Lawrence: Hydraulic control system with pressure responsive rate control. The University of British Columbia, C A Rowley, June 15, 1993: US05218820 (14 worldwide citation)

A hydraulic control system for controlling the motion of a double acting hydraulic actuator determines the flow to and from the actuator in accordance with


8
Real N Frenette, Peter D Lawrence: Hydraulic control system. The University of British Columbia, C A Rowley, November 5, 1991: US05062264 (14 worldwide citation)

An articulated arm employs a controller to generate .delta.r, .delta..THETA. and .delta.z signals for controlling the movement of the arm in r, .THETA. and z directions to product movement of an end point from an initial location along a desired path toward a desired location. The actual location is ...


9
Gregory Z Grudic, Peter D Lawrence: System for determining manipulator coordinates. The University of British Columbia, C A Rowley, March 8, 1994: US05293461 (12 worldwide citation)

An inverse kinematics method of determining joint variables for a manipulator is obtained by forming a model by modifying offset values of a selected arm segments of the manipulator to define a model for which it is possible to derive closed-form inverse kinematics equations for solving the joint va ...


10
Peter D Lawrence, Alan K Mackworth, Isobel J Mulligen: Manipulator arm position sensing. The University of British Columbia, May 2, 1989: US04826391 (10 worldwide citation)

An apparatus determining relative positions of arm elements of a manipulator having at least two relatively moveable arm segments uses image analysis and a model of the manipulator to analyze an image of the two arms to determine the joint angles between adjacent arms.