Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2001-01-26
2002-10-01
Ro, Bentsu (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C040S414000, C403S053000, C712S220000
Reexamination Certificate
active
06459227
ABSTRACT:
The invention relates to articulated modules and robotic assemblies incorporating them, particularly mannequins used for displays and demonstrations. Preferably, the modules are servo-articulated.
BACKGROUND OF THE INVENTION
U.S. Pat. No. 3,767,901 discloses a digital animation graphics apparatus and methods. This appears to be the basic patent in the prior art since 1975.
U.S. Pat. No. 3,898,438 discloses a programmable method for digital animation apparatus for assembling animation data.
U.S. Pat. No. 3,912,694 discloses mechanical dolls which are controlled by signals on a recording medium. Over the prior art, this patent has achieved synchronizing at reduced cost.
U.S. Pat. No. 4,825,136 describes a mimetic function simulator. This patent addresses the “adequate number of control devices” limitation of prior art. It also addresses the complexity, space, and size of prior methods of controlling facial muscles. Control methods are broad, using tape recorder, keyboard, and modem.
U.S. Pat. No. 5,013,276 describes the use of thermal motors (composed of Nitinol). However, motion is simple and random. This invention described in this patent is not directly programmable, nor does it use a large number of degrees of freedom.
U.S. Pat. No. 5,270,480 describes a toy acting in response to a Midi signal. This invention is about the conversion of an instrument playing signals into drive signals.
U.S. Pat. Nos. 5,289,273 and 5,142,803 disclose an animated character system with real-time control. This patent has a complex implementation, but it does mention “direct drive vs indirect drive” as a method of controlling joints. One example is the direct drive control at the shoulder (FIGS. 10
a,
10
b
), and also for the head (FIG. 8
a
), and for the wrist. Additionally, it mentions the use of surgical tubing as a way to counteract gravity.
U.S. Pat. No. 5,394,766 describes a robotic human torso that takes advantage of hydraulic rotary actuators, and also linear actuators. The improvement over the prior art is in the size and number of degrees of freedom that can be implemented. This patent describes an industrial implementation. What the present invention accomplishes over this patent is that it
Uses conventional and readily (commercially) available parts, and is
Simpler and
Cheaper.
U.S. Pat. No. 5,493,185 discloses a method for animating motor driven puppets and the like and apparatus implementing the method. This patent mentions prior art as unsuited to effectively process the control signals.
U.S. Pat. No. 5,623,428 describes a method for developing computer animation that covers the underlying technology in modern computer animation: forward kinematics and reverse kinematics.
U.S. Pat. No. 5,655,945 describes a video and radio-controlled moving and talking device. This references signals carried on VCR and TV and an expanded use of the invention specifically referred to as “custom skeletal structure” linkages, a plurality of electric motors. The reference describes the use of a computer to integrate sound waves to send responses to a transmitter.
U.S. Pat. No. 5,696,892 describes a method and apparatus for providing animation in a three dimensional computer generated virtual world using a succession of textures derived from temporarily related source images. This reflects the state of the art in how some of the computer animation today gets accomplished. Claims are for incorporating real world objects into 3D computer graphics.
SUMMARY OF THE INVENTION
It is an object of this invention to provide a simple articulated module for the joints of a mannequin.
It is an object of this invention to provide a simple servo-articulated module for the joints of an animated mannequin.
It is an object of this invention to provide an inexpensive servo-articulated module for the joints of an animated mannequin.
It is an object of this invention to provide a method for preparing a choreograph that can be used by those skilled in computer applications for activating the joints of a mannequin.
It is an object of this invention to provide a simple method for computer control of a choreograph for activating the joints of a mannequin.
These objects and others that will become apparent from the following specification are achieved by a servo-articulated module having doubly articulated means for attaching a first portion of a robotic assembly to a second portion of said assembly, said first portion being rotatable with respect to said second portion about a first axis substantially perpendicular to a first axis of the first portion and about a second axis substantially coaxial with said first axis
These objects are further achieved by a robot arm, adapted to be arranged on a torso of a human mannequin figure, which stimulates the movements of a human arm, the torso having a central longitudinal torso axis and the arm having a central longitudinal arm axis which in the extended position, comprising in combination:
(a) a shoulder portion having articulated means for attaching the arm to the torso, the arm being rotatable with respect to the torso about a shoulder axis substantially perpendicular to the central torso axis;
(b) an upper arm portion having doubly articulated means for attaching the upper arm portion to the shoulder portion, the upper arm portion being rotatable with respect to the shoulder portion about a first axis substantially perpendicular to the central arm axis and about a second axis substantially coaxial with the central arm axis;
(c) a forearm portion having double articulated means for attaching the forearm portion to the upper arm portion, the forearm portion being rotatable with respect to the upper arm portion about a third axis substantially perpendicular to the central arm axis and about a fourth axis substantially coaxial with the central arm axis; and
(d) a hand portion having articulated means for attaching the hand portion to the forearm portion, the hand portion being rotatable with respect to the forearm portion about a fifth axis substantially perpendicular to the central arm axis.
The articulated means of the hand portion may be doubly articulated and the hand portion may be further rotatable with respect to the forearm portion about a sixth axis which is substantially perpendicular to the central arm axis and to the fifth axis.
In addition, the invention provides a robot leg, adapted to be arranged on a torso of a human mannequin figure, which simulates the movements of a human leg, the torso having a central longitudinal torso axis and the leg having a central longitudinal leg axis when in the extended position, comprising in combination:
(a) a hip portion having articulated means for attaching the leg to the torso, the leg being rotatable with respect to the torso about a hip axis substantially perpendicular to the central torso axis;
(b) an upper leg portion having doubly articulated means for attaching the upper leg portion to the hip portion, the upper leg portion being rotatable with respect to the hip portion about a first axis substantially perpendicular to the central leg axis and about a second axis substantially coaxial with the central leg axis;
(c) a lower leg portion having doubly articulated means for attaching the lower leg portion to the upper leg portion, said lower leg portion being rotatable with respect to the upper leg portion about a third axis substantially perpendicular to the central leg axis and about a fourth axis substantially coaxial with the central leg axis; and
(d) a foot portion having articulated means for attaching the foot portion to the lower leg portion, said foot portion being rotatable with respect to the lower leg portion about a fifth axis substantially perpendicular to the central leg axis.
The articulated means of the foot portion may be doubly articulated and the foot portion may be further rotatable with respect to the lower leg portion about a sixth axis which is substantially perpendicular to the central lower leg axis and to the fifth axis.
The invention also provides a robot head, neck and torso of a human mannequin figur
Milde & Hoffberg LLP
Ro Bentsu
LandOfFree
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