JPH07136956A - Elastic robot leg body, method for remote control thereof and robot control enclosing element - Google Patents

Abstract

PURPOSE: To change a shape actually and continuously by providing a main body which is formed into the shape of limbs out of elastic material, and many actuators are built in spacedly from each other at narrow intervals, and changing the shape of the main body when the actuators are changed over individually or in groups. CONSTITUTION: The actuating directions of actuators 10 of plane bodies 8, 9 are shown by wires 10' and curves 10". When the actuators 10 actuate, they are bent, and an elastic body 12 is curved. When the other actuators 10 actuate, the shape of the elastic body 12 is differently changed. Consequently, when the individual actuators 10 or the actuators in groups perform continuous actuation, continuous actuation can be performed at continuous intervals. Because a memory metal member suddenly changes the shape, when the number of the actuators increases, motion is made more continuous. Hereby, motion sequence changing extending over a wide range can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elastic body used in the field of robots.

[0002]

BACKGROUND OF THE INVENTION In the past, the motion sequences of prior art devices have been adapted to be operated by individual or several motors of various configurations. Variations in movement can be obtained, for example, by adding gearing, levers or pulleys, but the movement sequence of the device is determined during the assembly stage and can only be changed thereafter by reassembling. The motion sequence is defined by the structure.

Unlike artificially constructed techniques, natural movement is obtained, for example, by muscles. Muscle is made up of many cells that can contract. In the case of moving muscle, all muscle cells are rarely active at the same time, but with these cells an equal number of cells are required to carry out the movement. As a result, the muscles become significantly more flexible and can perform unpredictable movements. In the case of movement, the sequence is memorized rather than predetermined by structure. The movement mechanism of muscles works based on the principle of redundancy. That is, if some muscle cells become weak, other muscle cells will always contract at their respective locations so that the overall muscle movements performed are correct again.

Given the availability of mechanical elements similar to muscle, it would be possible to obtain a whole range of new devices, such as imitation human limbs. It is considered that many mechanical problems can be solved by a mechanical element which has a motion determined only by a computer program rather than by a structure and which is controlled by the computer program. This is especially true when trying to change the work required of a mechanical element or the device in which it is incorporated.

Redundancy in technical systems
ncy) requirements are currently met by installing many small numbers of the same structural elements in these devices.
In such a case, the element itself has no redundancy. Therefore, it is desirable to have mechanical elements that are self-redundant.

In the field of computer engineering, self-learning algorithms have been developed. The application of such algorithms to the mechanical field is of particular significance if the movements that can be carried out by the device are flexible, rather than fixedly defined by the structure.

The sequence of motion of technical equipment is currently
Defined by individual or few sensors. These sensors are located at locations critical to the particular control sequence of the particular structure. Since the motion sequence is defined by the structure, a small number of sensors in place are sufficient to accommodate the motion.

However, this is not the case if the movement is not defined by the structure, but is flexible and has mechanical elements defined by the computer algorithm. Accepting such instantaneous positions and movements of the device using conventional means has proven difficult, if not impossible, and has also compromised the features of the device. Therefore,
In the case of such elements, it is highly desirable to have a sensor device that can accept all changes in shape and movement.

Humans have created a technical environment in which they can perform their movements in an optimal manner by their limbs. A robot that takes over work from a human in such an environment has a human-like structure, and therefore can perform work in a significantly rational manner if it can move. Therefore, especially the robot's hand must correspond to the human hand.

[0010]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a mechanical element which can change its shape substantially continuously and which is controlled by a computer algorithm and which, for example, exerts force and produces movement. It is to provide a functioning elastic body. In this respect, the invention is also aimed at providing certain organisms which can be controlled by self-learning algorithms. The purpose is also to measure changes in the shape of the self-forming element.

Another object of the present invention is to provide a robot hand with a master-slave control body containing an integrated drive system and an elastic structure convenient for humans. To provide.

Another object of the present invention is to provide an elastic robotic limb suitable for use in technical robots, toys, ie movie puppets, show puppets and entertainment puppets, and such robots. Another object of the present invention is to provide a master device and a control method for performing a desired motion of a puppet. For this purpose, British Patent No. 2,013,617 (GB-A-2,013,61
See 7). The background of this purpose is "1999 on Robotics and Automation" published by the IEEE Computer Society in May 1990.
Proceeding 1990 IEEE
International Conference on Roboticsand Automatio
n ") Fukuda, published on pages 1316 to 1321
"Distributed Type of Ac"
tuators by Sma and its Application to Underwater M
It can be better understood by reference to a paper entitled Obile Robotic Mechanism).

Yet another object of the present invention is to provide a glove device for inserting the movement of a human hand into a computer.

Still another object of the present invention is to provide a method for controlling the hand of a robot by the novel glove device described above.

German Patent No. 2915313 (DE 29
Technology devices operated by a large number of actuators, such as the device disclosed in 15313), are known, but the actuator of such a device is not predetermined but is defined by construction. It is not integrated into the elastic material so that it can perform a number of movements.

[0016] Technical devices are known, such as those disclosed in DE 4033089, which feature an elastic body as an integral component, but such devices are individually or group-triggered. It is not operated by the actuator.

Although remote control prostheses, such as those disclosed in International Application No. 90/04370, are known, the number of control elements is predetermined by the structure for one of these hands and the other. The hands are limited to being able to perform only those movements that are totally arbitrary. Therefore, it is not possible to measure the instantaneous position of the limb.

[0018]

According to one aspect of the present invention, an elastic robot limb is provided. An elastic robot limb comprises a body formed of elastic material in the shape of a limb and having a large number of actuators spaced apart from one another and incorporated therein, the actuators being switched individually or in groups. The present invention relates to a configuration characterized in that the shape of the body can be changed when

In a preferred embodiment of the invention said actuator is formed of a material having a shape memory function, said material comprising a thermo-bimetal combination or in an electromagnetic, piezoelectric, magnetostrictive or electrostrictive manner. Is configured to operate.

According to another aspect of the present invention, there is provided an apparatus for detecting a change in shape of an elastic body. This device
A configuration is provided in which a plurality of sensors that change their states when the internal stress or strain of the main body is changed by the change of the shape of the elastic body are integrally incorporated in the elastic body at narrow intervals.

According to another aspect of the present invention, a remote control method is provided. This method comprises the steps of sensing a deformation of a master-elastic body formed to receive a living limb over a plurality of surface positions in response to a sensor measurement, and transmitting the measurement to a computer. A step of transmitting a command of the computer to the actuator of the slave elastic body formed in a manner similar to that of the master elastic body, and forming a motion in the slave that almost exactly corresponds to the motion of the master. The present invention relates to a configuration including:

According to yet another aspect of the present invention, an actuator for an elastic robot limb is provided. This actuator comprises a balun element, a liquid enclosed in the balun, and means for heating the liquid to a gas state, and when the heating means is activated, the balun According to the invention, which expands to have a larger volume.

According to yet another aspect of the invention, a robot control enclosure element for use in connecting to a container is provided. This element includes a lid made of an elastic material containing a remotely controllable actuator, lifting the lid from the container and sealing the lid to the container in response to a signal provided to the actuator. Means for actuating the actuator so that it is worn.

[0024]

In the present invention constructed as described above, the elastic body incorporating the actuator can change its shape substantially continuously, is controlled by a computer algorithm, and is And can function as a mechanical element that produces movement.
It can also function as some sort of organism that can be controlled by self-learning algorithms. Therefore, the elastic body can be embodied as, for example, a robot hand having a master-slave control body having an integrated drive system and having an elastic structure convenient for humans.

[0025]

The present invention will be described below with reference to the embodiments shown in the accompanying drawings.

FIG. 1 shows an elastic body 1 made of, for example, silicone rubber. This elastic body comprises an integrated spiral spring 2 and can be contracted according to the mechanism described in detail below. The spring 2 is referred to as an actuator in this specification because it makes a movement or motion when actuated. FIG. 1a shows the spring 2 in its basic state without actuation. When actuated, as shown in FIG. 1b, the spring 2 contracts, thus contracting the body, causing the elastic body 1 to change shape and undulate and the surfaces 3'and 3 "to converge.

Memory metals, such as certain titanium-nickel alloys, change shape at certain temperatures due to phase changes.
The spiral spring 2 shown in Figures 1a and 1b is formed from such a material. Activated due to temperature change.

FIG. 2a shows a portion of a two-dimensional energizing element matrix consisting of memory wires. The wires 4 can be individually triggered to heat directly by selecting the appropriate control lead wires 5'and 5 ". The resistance of the control lead wires 5'and 5" is only the storage wire. To be heated. However, indirect heating can also be performed. The tension release device 6 makes the matrix flexible for movement. For example,
The holder or rib 7, shown in FIG. 2b, which can be configured as a ring, allows the memory wire 4 to be held in place in the elastic material of the elastic body when the shape changes. The holder 7 is adapted to engage an elastic material to hold the actuator fixedly in place on the elastic material when actuation is performed.

3a to 3c show the manner of substantially constant movement performed using a single actuator trigger. As in the other figures, the control lead wires and holders are not shown in these figures.

Some of the two-dimensional matrices shown in FIG. 2a are integrated into a rubber elastic body. The planar bodies formed by the matrix are arranged offset with respect to each other with a length of about half of the wire. FIG. 3a shows such an arrangement with two layers 8 and 9 as an example. The planar body is not limited to the arrangement shown, but can be configured to have the arrangement features shown as an example. To show all the elements of one plane,
The direction in which the actuators of the plane bodies 8 and 9 act
A curve of wires 10 'and 10 "is shown as an example. Figure 3b shows a cross section of a part of such a multilayer system.
When the actuator 10 is actuated, the actuator 10 is bent and the elastic body 12 is bent. When another actuator is activated,
The shape of the elastic body 12 undergoes different changes.
Therefore, when individual actuators or actuators are used as a group to perform continuous operation, for example, as shown in FIG. 3c, continuous operation can be performed at 11 continuous intervals. Since such memory metal members change shape very suddenly, the movement becomes more continuous as the number of actuators increases. The matrix part shown is 3
Coordination can also be done in dimensions. This makes it possible to obtain a motion sequence that changes over a wide range. See
All cans are based on the principles of motion described herein. The integration of multiple actuators provides redundancy to the elastic body so that if some of the actuators fail, the other actuators can operate in their respective positions. Therefore, the overall movement of the elastic body is kept unchanged.

4a to 4c show an application example. Container 1
A cover 15 is arranged in the opening of 4, and the cover is constructed as an elastic body having a large number of integrated actuators. Figure 4a shows the cover in the open position. The mechanism of movement described above causes the cover to automatically cover the container as shown in Figure 4b and then close and seal the opening as shown in Figure 4c. Such a configuration of the present invention can be applied to any field requiring closure control by a robot such as in a radiation environment or a sterile environment.

Another application example of such an elastic body is imitation of muscle. FIG. 5 shows a prosthetic hand made of, for example, silicone rubber. An actuator 17 is integrated with the index finger 16 without forming a strict order. In this case, the actuator is a spiral spring formed from the memory material 17. Figure 5 shows the index finger in a bent condition, obtained by contracting the lower helix 17 'of the index finger or by stretching the upper helix 17 "of the finger. The necessary support wires are not shown. It may also be a structure made up of individual muscle bundles.
Informs the control computer of the position of the finger 16.

As shown in the example of FIG. 3, it is not necessary to know the exact position of the actuator. For example, testing and observation by evaluating graphic data allows the control computer to learn movement. This learning process is possible because of the large number of actuators in the elastic body can provide the control algorithm with the possibility to accurately select the actuators required to perform the desired movement. Is. As the number of actuators increases, so does the choice. The movement of the self-forming element is not only determined by the structure, but also by the programming of the control computer in particular. In particular, the sequence of movements is suitable for control using a self-learning algorithm, with a large number of actuators, the actuators being integrated with the material of the elastic body. This is because it cannot be determined in advance. Thus, an elastic body of this type can resemble a muscle.

The actuator can also be formed from thermal bimetal. FIG. 6 a shows an example of a bimetal consisting of a material 20 having a large coefficient of thermal expansion and a material 21 having a coefficient of thermal expansion smaller than that of the material 20. Figure 6
The bimetal in the upper figure of a shows the thermal bimetal 19 in the non-actuated state and therefore unbent and the bimetal in the lower figure shows the actuated thermal bimetal in the bent state.

The actuator can also be actuated electromagnetically. FIG. 6b shows such an actuator. This actuator is equipped with a magnetic core 22, and the magnetic core is provided with a sleeve 24 by an electromagnetic field generated by a winding wire 23.
Is urged to move in and out. In the bottom view of Figure 6b, two actuators are shown, one actuator having a core drawn and the other actuator having a core drawn.

The term electromagnetic means that the individual actuators, when in an actuated state, simply repel or attract each other, rather than performing internal movements themselves. This causes the elastic material between the actuators to expand or contract. FIG. 6c shows two actuators that repel each other (arrows) in an operating condition where current is flowing through winding 27.

The actuators disclosed herein are just one example. Actuator that rotates, twists, stretches, contracts, expands, etc., as formed from thin and thin layers
Can also be applied. The actuator can also be configured to operate piezoelectrically or by electrostriction. The self-assembled body itself can also be used as an actuator.

By integrating the pressure sensor or the switch with the elastic body, the instantaneous position of the self-forming element can be confirmed. In such a case, the pressure sensor measures the internal pressure of the elastic body, which can be determined by the change in shape. For computer control, a large number of electrical switches that recognize only the "open" and "closed" states are simpler, faster, and more economical.

7 and 8 show the shape of the switch integrated with the elastic material 28. Each switch is elastic
2 and two switch contacts 30 and 31, to which switch signal wires 32 and 33 are connected, respectively. In Figure 7a the switch is open and no current flows. In FIG. 7b, the elastic body 28
Is compressed, the switch contacts are contacted and the electrical circuit is closed. In FIG. 8, the contact closes when the elastic body 28 bends, as shown in FIG. 8b. The contact 18 shown in FIG. 5 can be configured similarly to that shown in FIG. The closed switch 18 'provides information about changes in the shape of the finger or elastic body. The more switches there are, the more accurate the results will be. The correlation between the switch state and the curve of the finger 16 is calculated by the self-learning computer.
Data algorithm.

The large number of switches or sensors means that the position of such elastic bodies can be measured by self-learning related algorithms. In the case of quick but similar movements, just like in the case of humans, who do not have to think about each stage of movement, here we measure only a very small exposed switch position and the position of the elastic body is determined by the combination Must be recognized. Thus, the mechanism can be made more organic by increasing the number of actuators and sensors.

9a to 9f show cross sections of different switch structures. Figure 9a shows three notches 35 ', 3
5 shows an elastic body 34 with 5 "and 35 '" and a simple cut 35 "" formed. In Figure 9a, Figure 9b.
9f, unlike the switches 36 ', 36 ", 3
Each of 6 '"and 36""has two switch contacts, but is not yet attached to the elastic body 34 for clarity of illustration.

When the elastic body 34 is in the basic state where it is not bent, all the contacts 34 are closed as shown in FIG. 9b. When the elastic body 34 is bent, these contacts open. As shown in FIGS. 9a to 9f, different sizes of notches are formed in the elastic body, and the geometric curve is formed.
The contact is opened by contacting the contact 3 in FIG. 9c.
6 ′ open, contact 36 ″ open in FIG. 9d, FIG. 9e
The contact 36 "'is opened continuously and the contact 36""is opened in Fig. 9f. Such a continuous change in the switch position causes a change in the shape of the elastic body 34, that is, a bending in the computer program. Is recognized as

The determination of such a number of switches is particularly simple on the basis of the digital characteristics of the switches and does not require complicated adjustment of the measured values (temperature, time, hysteresis) or an analog-digital converter. .

The switch configurations shown in FIGS. 9a-9f are:
It can be used for a data glove.
A description will be given with reference to FIG. 10 which shows a cross section of the finger portion of such a groove. A human finger is inserted into this finger portion, and this finger portion is made of an elastic body 38, and a large number of switches 39 are integrally arranged on the elastic body 38. As the human finger bends and the shape of the elastic body 38 changes, the switch changes, for example, as indicated by reference numeral 40 in FIG.

Human limb movements can be accepted in this way. This switch data is, for example,
It can be used to control the hand of the robot of FIG. The hands of the robot are
Tag robes can be worn. The computer is
By comparing the positions of all switches in both data gloves, the robot's hand can be moved so that the robot can perform the same movements as a human hand. As the number of switches increases, the robot's hands can respond more accurately.

In order to control the limb of the robot, for example the hand of the robot, a second elastic body having the same shape as the limb of the robot can be provided. A plurality of sensors or switches that change their states when the elastic body is formed into a new shape are attached to the second elastic body at narrow intervals. In this way, the operator can shape the shape of this second elastic body and the software of the computer appropriately moves the limbs of the first robot described above.

Second for performing master-slave control
It is also possible to use an elastic body similar to the above.

11 and 12 show another application example of an elastic body having a large number of integrated switches. The elastic body comprises three thin elastic panels 42, 43 and 44. FIG. 11 is an exploded perspective view of these panels. However, in the actual structure, the panels are laminated and joined to form one elastic body. A thin metal coating is vacuum deposited on the top surface of panel 42 and the bottom surface of panel 44. These coatings are so thin that they can follow small deformations of the elastic body without breaking. Each of these layers is formed in strip-shaped conductors 45 and 46 and arranged orthogonal to each other. In the intermediate layer 43, the through holes 4 are accurately aligned at the positions where the metal strip conductors of the panels 42 and 44 intersect.
7 are formed.

This kind of elastic body is a film surface (not shown).
The switch is formed at this position. Such a configuration is shown in FIG. 12 which shows such a hole 47 in cross section. In the top view of Figure 12, the two metal strips are separated by the height dimension of the panel 43, eliminating electrical contact. Pressing on the upper panel 44 brings the two strip conductors 45 and 46 into contact, closing the circuit as shown in the lower view of FIG.
The corresponding ventilation duct of the holes 47 is not shown.

By knowing the location of the holes, an elastic body of this kind can be used for locally analyzed pressure measurements. Such a sensor matrix can be placed, for example, at the fingertips of the robot's hand shown in FIG. 5 so that a localized contact analysis can be performed. By using a corresponding actuator, which may take the form of, for example, a helical spring 41, the contact result thus measured is transmitted to the fingertip of the human finger 37 of the digital tag shown in FIG. It

FIG. 24a shows the normal condition.
Figure 24b shows the actuating state according to Figure 24b. When the peltier element is heated, the upper part 7
6 cools and bottom 77 warms. The actuators can have different operating characteristics. In FIG.
Two spring-like actuators 48 and 49 of different size and different number of turns are shown. Therefore, these actuators exhibit different characteristics in operation.

When the spring 50 of FIG. 14 is incorporated in the foam rubber or the foam plastic material 51, the elastic body 51 is deformed more easily. Because of the holes 52, the repulsive force is small.

Further, as shown in FIG. 15, since holes 54 are formed in the elastic body 53, the same effect as the foamed body can be obtained. These holes can be formed by introducing gas as bubbles into the elastic body when the elastic body is cured. In order to make such an elastic body invisible, it can be covered with a rubber film as shown in FIGS. 14 and 15.

The glove 65 for measuring the movement of the hand 66, described with reference to FIG. 10, can be used in the virtual reality of software.
One way to make such a groove is to incorporate the electrode 60 into the resistive material 59, measuring the change in resistance between the next or other electrodes while moving the finger 61. Since the resistance of the material depends on the internal strain and stress of the material, the measurement results are different. The resistance of the rubber material is the conductive particles 56,
It can be obtained by incorporating powder or paste into the rubber material 57.

As another method for measuring the movement of the finger 63,
There is one in which the electrode 64 is incorporated in the elastic material 62 and the capacitance between the following electrodes is measured. When the finger 63 is moving, the material 62 between the electrodes 64 bends and the distance between the electrodes 64 changes. This change in distance changes the measured capacitance.

FIG. 21 shows a cross section of a wire spring actuator 70 formed from a shape memory metal tube. Coolant can be passed through tubes 70 and 71 to cool and shrink the metal. Heating is performed by passing an electric current through the coil.

FIG. 22 shows another embodiment of the actuator, in which the spring 73 is the cooling hose 7.
Surrounded by two. In FIG. 23, the wire is also hollow, and the cooling hose 74 is arranged inside the wire 75.

All shape memory actuators are preferably heated by a direct current. A typical memory metal is Nitinol®, which consists of NiTi metal. Another memory metal is CuZnAl formed from copper, which is advantageous because it has a significantly lower resistivity and the actuator utilizes high current heating.

Another method of constructing an actuator is to use Peltier elements 76 and 77 shown in FIG. 24 between two shape memory metal plates 78 and 79. By selecting the steady state position of the actuator as shown in Figure 24a, the position of Figure 24b can be obtained when the plate is heated. That is, the plate 79 becomes straight and the plate 78 becomes the plate 7.
Bend away from 9. Thus, a single electrical actuation (heating) virtually doubles the total actuation stroke.

Interconnection of wires from the actuator (ie, sensor) and the computer is shown in FIGS. 25a and 25b.
Can be done as shown in. To prevent the wire 80 from breaking when it moves,
Incorporated in elastic material 79.

Another type of actuator is shown in FIGS. 26a and 26b, where a portion 81 of the elastic body having an actuator formed from balloon 85 has water or a boiling point of about 100.degree. Liquid 82 like lower liquid
It is included. The balloon 85 is attached to the heating device 84. When the temperature of the liquid exceeds the boiling point, it changes to gas 83, the volume increases and the elastic body 81 is urged, so that the elastic body takes a new form.

Another way to measure finger movement is to incorporate a number of closely spaced strain gauge devices 68 or other pressure sensors that can be made small in the elastic body 67. When the finger 69 bends, the strain gauge device also bends and the output signal of this device changes. The switches and sensors described herein need not have the same output characteristics.

In the method of remotely controlling the limb of the robot, the limb of the robot is assembled as an elastic body according to FIG. The main part can be similarly configured.
The main part can be formed as an elastic body in which a switch or a sensor is incorporated. In order to operate the robot's hand, the main part must be moved by the human hand. The computer adjusts the robot's hand at the desired position. The computer is the neural net
You can do this using.

As one of the methods for remotely controlling the robot's hand, both the operator's hand and the robot's hand are shown in FIG.
The same glove is mounted as described above with respect to FIGS. 10 and 17-20. The movement of the robot's hands is then controlled by simply adjusting the robot's hands until both gloves are in the same state.

[0065]

Since the present invention is constructed as described above, the shape of the elastic body incorporating the actuator can be changed substantially continuously, and can be controlled by the computer algorithm. Thus, for example, a mechanical element that exerts a force and produces a movement can be provided.

[Brief description of drawings]

FIG. 1A is a perspective view showing a panel-like elastic body in a basic state in which a spiral body made of a memory material is provided as an actuator, and FIG. 1B is a perspective view of the elastic body in a state in which the actuator is activated. Is.

FIG. 2 a is a schematic view showing a storage wire arranged so as to form a two-dimensional matrix, and b is a perspective view showing the storage wire provided with a holder.

FIG. 3 is a perspective view showing a combination of two matrices with a memory wire acting in different directions, b is a cross-sectional view of five matrices in a bent state, and c is a series of panel-like elastic bodies. It is a perspective view showing an exercise sequence.

4A is a perspective view showing an example of a self-sealing cover in an open state, FIG. 4B is a perspective view showing an example of a self-sealing cover in a closed state, and c is an example of a self-sealing cover. It is a perspective view shown in the sealed state.

FIG. 5 is a partially cutaway perspective view showing an example of a prosthetic hand.

6A is a schematic view showing an actuator made of bimetal, FIG. 6B is a perspective view showing an electromagnetic actuator performing internal movement, and FIG. 6C is a perspective view showing electromagnetic actuators that repel or attract each other. is there.

FIG. 7 is a cross-sectional view showing a switch in which a is disposed in an elastic body and b responds when the elastic body is compressed.

FIG. 8 is a cross-sectional view similar to FIGS. 7a and 7b, where a is placed in an elastic body and b is in a bent state.

FIG. 9 is a cross-sectional view showing a switch in which a to f are arranged in an elastic body and respond when the elastic body is bent.

FIG. 10 is a cross-sectional view showing a finger portion of a data tag rob made of an elastic body having a large number of switches having a structure similar to that of FIGS. 9a to 9f.

FIG. 11 is an exploded perspective view showing a surface pressure sensor.

12 is a cross-sectional view of the sensor of FIG. 11 in which a shows the switching element in section and b shows the operating state.

13a and 13b are schematic views showing an actuator formed as a spring from a shape memory alloy.

FIG. 14 is a schematic view showing an actuator incorporated in foam rubber.

FIG. 15 is a schematic view showing an actuator incorporated in an elastic body having holes formed therein.

FIG. 16 is a schematic view showing conductive particles incorporated in an elastic body.

FIG. 17 is a cross-sectional view of a glove's finger measuring the movement of a human finger by resistance.

FIG. 18 is a cross-sectional view of a glove's finger measuring the movement of a human finger by capacitance.

FIG. 19 is a perspective view showing a glove for measuring the movements of a human finger and hand and inserting the data into the computer.

FIG. 20 is a cross-sectional view showing a finger of a glove in which the movement of a human finger is measured by a strain gauge device.

FIG. 21 is a cross-sectional view showing a wire actuator.

FIG. 22 is a cross-sectional view showing another embodiment of the wire actuator.

FIG. 23 is a cross-sectional view showing another embodiment of the wire actuator having a cooling liquid.

FIG. 24 a is a cross-sectional view of a memory actuator, b is a
FIG. 6 is a cross-sectional view of the memory actuator in a state different from that of FIG.

25 is a cross-sectional view showing a part of the elastic body in a non-bent state, and b is a cross-sectional view showing a part of the elastic body of a in a bent state.

FIG. 26 a is another actuator in the actuated state
24b is a cross-sectional view showing the actuator, and FIG. 24b is a cross-sectional view showing the actuator of FIG. 24a in an unactuated state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 elastic body 2 spiral spring 3 ', 3 "surface 4 storage wire 5', 5", 5 '", 5" "control lead wire 6 tension release device 7 holder 8, 9 layers 10 actuator 10', 10 "wire 12 elastic body 13 opening 14 container 15 cover 16 index finger 17 actuator 17 ', 17" spiral body 18 sensor element 19 bimetal 20, 21 vimental metal 22 magnetic core 24 sleeve 23 winding 25, 26 Actuator 27 Winding 28 Elastic material 29 Elastic coating 30, 31 Switch contact 32, 33 Signal wire 34 Elastic body 35 ', 35 ", 35'", 35 "" Notch 36 Contact 36 ', 36 ", 36 '", 36" "switch 37 human finger 38 elastic body 39 switch 42, 43, 44 elastic panel 45, 46 strip conductor 4 7 holes 48, 49 actuator 50 spring 51 foam material 52, 54 hole 53 elastic material 56 conductive particles 57 rubber material 58 resistance material 60 electrode 61 finger 62 elastic material 63 finger 64 electrode 65 groove 66 hand 70 spring actuator 72, 74 Cooling hose 73 Spring 76, 77 Peltier element 78, 79 Shape memory metal plate 80 Wire 82 Liquid 83 Gas 84 Heating device 85 Balloon

Claims (35)

[Claims] 1. A body formed from an elastic material in the form of a limb and having a plurality of actuators spaced apart from each other and incorporated therein, the actuators being switched individually or in groups. An elastic robot limb characterized by being able to change the shape of the main body when it is turned on. 2. The actuator is formed of a material having a shape memory function, the material including a thermo-bimetal combination or operating in an electromagnetic, piezoelectric, magnetostrictive or electrostrictive manner. The elastic robot limb according to claim 1. 3. The elastic robot limb according to claim 1, wherein the actuator is made of a material having a memory function, and the material contains an electromagnetic substance. 4. The elastic robot limb according to claim 1, wherein the actuator is made of a material having a memory function, and the material contains a piezoelectric substance. 5. The elastic robot limb according to claim 1, wherein the actuator is made of a material having a memory function, and the material contains a magnetostrictive substance. 6. The elastic robot limb according to claim 1, wherein the actuator is made of a material having a memory function, and the material contains an electrostrictive substance. 7. The elastic robot limb according to claim 1, wherein the actuator is a spring formed of a shape memory metal. 8. The elastic robot limb according to claim 1, wherein the elastic material is foamed rubber. 9. The elastic robot limb according to claim 1, wherein the elastic material is plastic. 10. The elastic robot limb according to claim 1, wherein the material has a plurality of holes to enhance flexibility. 11. The elastic robot limb according to claim 1, wherein the main body has a hand shape. 12. The elastic robot limb according to claim 1, wherein the body has the shape of a body part. 13. The body part comprises a sensor which acts as a sensor organ for viewing, listening, touching, palpating, smelling or tasting.
Elastic robot limb according to. 14. A device for detecting a change in shape of an elastic body, comprising a plurality of sensors which change a state when internal stress or strain of a main body part is changed by the change in shape of the elastic body at narrow intervals. A detection device integrally incorporated in the elastic body. 15. The detection device according to claim 14, wherein the sensor is a switch. 16. A method for investigating a change in shape of an elastic body for electronically transferring data to the computer, wherein the elastic body has a shape of a globe into which a human hand can be inserted. The detection device according to claim 14, wherein: 17. The elastic material has an electrical resistance that changes due to the internal strain and stress of the material, and the elastic material is capable of measuring the resistance of the material step by step and transmitting such resistance to a computer. 15. A detection device according to claim 14, characterized in that it comprises electrodes which can be. 18. The detection device according to claim 17, wherein the material includes conductive particles. 19. The detection device according to claim 17, wherein the material includes a conductive paste. 20. The detection device according to claim 17, wherein the material includes a conductive powder. 21. The detection device of claim 14, wherein the elastic material is a dielectric and the electrodes are incorporated into the material to measure the capacitance between adjacent electrodes. 22. The detection device according to claim 14, wherein the sensor is a pressure sensor. 23. The detection device according to claim 14, wherein the sensor is a wire strain gauge device. 24. The detection device according to claim 14, wherein adjacent sensors can have different sensing characteristics. 25. The actuator includes first and second plates, each of which is composed of a pair of Peltier elements capable of bending in response to a change in temperature, and the plate is heated to heat the plate. Means for varying temperature, the first plate is generally substantially flat, and the second plate is generally curved at one end away from the first plate, When the plate is heated, the first plate becomes substantially flat, and one end of the second plate is curved so as to be substantially separated from the first plate. The elastic robot limb according to claim 2. 26. The actuator comprises a plate of shape memory material and a resistor attached to the actuator to transfer heat to the actuator. The elastic robot limb according to 2. 27. The actuator is a plate made of a shape memory material and having a Peltier element interposed therein. When the upper portion of the Peltier element cools, one plate bends downward, and the lower portion of the Peltier element. The elastic robot limb according to claim 1, wherein one plate bends downward when the robot is heated, and vice versa. 28. A step of sensing a deformation of a master-elastic body formed to receive a living limb over a plurality of surface positions in response to a measurement of a sensor, and a step of transmitting the measurement to a computer. And the command of the computer is transmitted to the actuator of the slave elastic body formed in a manner similar to that of the master elastic body so that the motion corresponding to the movement of the master can be accurately performed.
A remote control method comprising the steps of: 29. The remote control method according to claim 28, wherein the neural network controls movement. 30. A method further comprising the steps of activating the master, observing the response of the slave, and adjusting the responsiveness of the slave with a computer until the movements become substantially the same. 29. The remote control method according to claim 28, further comprising calibrating the movement of the slave in response to the master. 31. The actuator is a plate formed of a shape memory material, and a resistor configured as a surface mount device is attached to the actuator to heat the actuator. The elastic robot limb according to claim 1, wherein: 32. A balun element, a liquid enclosed in the balun, and means for heating the liquid to a gas state, the balun being activated when the heating means is activated. An actuator for a flexible robot limb, wherein the actuator expands to have a larger volume. 33. A robot-controlled enclosing element used for connection with a container, comprising a lid made of an elastic material containing a remotely controllable actuator, the lid being lifted from the container, and the actuator. Means for actuating the actuator to seal the lid to the container in response to a signal supplied to the robot controlled enclosure element. 34. The container includes a lip, the lid includes a peripheral actuator, the lid for intimate engagement between the lid and container to form a tight engagement when desired. 34. The robot control enclosure element of claim 33, wherein said robot control enclosure element is capable of engaging said lip in response to said signal. 35. The robot control enclosing element according to claim 33, wherein the close-engagement body is provided with actuator means in the elastic material so as to cover the peripheral portion of the lid around the lip. .