JPWO2020142462A5 - - Google Patents
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- JPWO2020142462A5 JPWO2020142462A5 JP2021538198A JP2021538198A JPWO2020142462A5 JP WO2020142462 A5 JPWO2020142462 A5 JP WO2020142462A5 JP 2021538198 A JP2021538198 A JP 2021538198A JP 2021538198 A JP2021538198 A JP 2021538198A JP WO2020142462 A5 JPWO2020142462 A5 JP WO2020142462A5
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- JP
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- Prior art keywords
- conformal
- bladder
- end effector
- pad
- obstructing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000003932 Urinary Bladder Anatomy 0.000 claims 35
- 239000000945 filler Substances 0.000 claims 27
- 210000003811 Fingers Anatomy 0.000 claims 26
- 238000004805 robotic Methods 0.000 claims 24
- 239000002245 particle Substances 0.000 claims 15
- 230000000414 obstructive Effects 0.000 claims 14
- 239000000463 material Substances 0.000 claims 13
- 210000003813 Thumb Anatomy 0.000 claims 5
- 230000000875 corresponding Effects 0.000 claims 4
- 230000023298 conjugation with cellular fusion Effects 0.000 claims 2
- 239000012530 fluid Substances 0.000 claims 2
- 230000003993 interaction Effects 0.000 claims 2
- 230000013011 mating Effects 0.000 claims 2
- 230000003068 static Effects 0.000 claims 2
- 230000021037 unidirectional conjugation Effects 0.000 claims 2
- 210000001503 Joints Anatomy 0.000 claims 1
- 230000002452 interceptive Effects 0.000 claims 1
- 230000000149 penetrating Effects 0.000 claims 1
Claims (31)
各指が、内側部分と、1つ以上の自由度とを有する、1つ以上の指と、
各妨害共形パッドが、前記1つ以上の指の対応する指の前記内側部分に配置されるブラダを含む、1つ以上の妨害共形パッドと、を含み、
前記ブラダは、周囲の周りに封止された一対の層を含み、該一対の層は、内側層と、外側層とを含み、前記内側層は、実質的に平坦であり、前記外側層は、中空部を形成するために凸状であり、
前記1つ以上の妨害共形パッドの各々は、少なくとも2つのパッド構成において作動可能であり、該少なくとも2つのパッド構成は、
前記妨害共形パッドの形状が、ある物体の表面との前記妨害共形パッドの係合に応答して係合形状を達成するように変化可能である、コンプライアント構成と、
前記妨害共形パッドが前記係合形状を維持し、前記コンプライアント構成における前記妨害共形パッドと比べて比較的剛的である、剛的構成とを含む、
ロボットエンドエフェクタ。 A robotic end effector configured to provide conformal body interaction, comprising:
one or more fingers, each finger having an inner portion and one or more degrees of freedom;
one or more obstructive conformal pads, each obstructing conformal pad including a bladder positioned on the inner portion of a corresponding finger of the one or more fingers;
The bladder includes a pair of layers sealed about a perimeter, the pair of layers including an inner layer and an outer layer, the inner layer being substantially planar and the outer layer being , is convex to form a hollow,
each of the one or more obstructive conformal pads is operable in at least two pad configurations, the at least two pad configurations comprising:
a compliant configuration wherein the shape of the obstructing conformal pad is variable to achieve an engagement shape in response to engagement of the obstructing conformal pad with a surface of an object;
a rigid configuration, wherein the hindering conformal pad maintains the engaged shape and is relatively stiff compared to the hindering conformal pad in the compliant configuration;
robot end effector.
前記妨害共形パッドは、前記ブラダを備える充填材を更に含み、該充填材は、少なくとも2つの構成を有し、該少なくとも2つの構成は、
前記外側層が前記表面に適合すると、前記充填材が流動する、前記妨害共形パッドの前記コンプライアント構成に対応する、流動可能構成と、
前記充填材が前記流動可能構成における前記充填材に比べて静的であり、前記妨害共形パッドが前記充填材の流動に抗する、前記妨害共形パッドの前記剛的構成に対応する、静的構成と、を含む、
請求項1に記載のロボットエンドエフェクタ。 the outer layer is conformable to the surface of the object;
The interference conformal pad further includes a filler comprising the bladder, the filler having at least two configurations, the at least two configurations comprising:
a flowable configuration corresponding to the compliant configuration of the interference conformal pad , wherein the filler material flows when the outer layer conforms to the surface ;
static, corresponding to the rigid configuration of the obstructive conformal pad , wherein the filler material is static relative to the filler material in the flowable configuration, and the obstructive conformal pad resists flow of the filler material ; composition, including
A robot end effector according to claim 1 .
ギャップに亘って互いに対向する一対の対向する関節付き指を更に含み、
前記一対の対向する関節付き指の各々は、前記1つ以上の妨害共形パッドのうちの少なくとも1つの妨害共形パッドをその上に含む、
請求項1に記載のロボットエンドエフェクタ。 The one or more fingers are
further comprising a pair of opposing articulated fingers opposing each other across the gap;
each of the pair of opposed articulated fingers includes thereon at least one of the one or more obstructing conformal pads;
A robot end effector according to claim 1 .
ジョイントで互いに可動に連結される隣接するセグメントを備え、少なくとも、近位セグメントと、遠位自由セグメントとを有する、一連のセグメントを更に含み、
前記少なくとも1つの妨害共形パッドは、少なくとも前記関節付き前記遠位自由セグメントの上に配置される、
請求項8に記載のロボットエンドエフェクタ。 Each jointed finger
further comprising a series of segments comprising adjacent segments movably connected to each other at a joint, having at least a proximal segment and a distal free segment;
the at least one obstructing conformal pad is positioned over at least the articulated distal free segment;
A robot end effector according to claim 8 .
前記妨害共形パッドは、少なくとも、前記少なくとも1つの指及び前記親指によって支持される、
請求項1に記載のロボットエンドエフェクタ。 further comprising a humanoid hand comprising at least one finger, a palm, and a thumb extending from the palm and opposite the at least one finger;
said obstructive conformal pad is supported by at least said at least one finger and said thumb;
A robot end effector according to claim 1 .
前記ブラダ内にあり、前記ブラダ内で流動可能であり、粒子を含む、充填材と、を含み、
前記充填材の流動特性は、前記ブラダ内の圧力と共に変化し、前記ブラダのコンプライアンスは、前記充填材の前記流動特性と共に変化する、
請求項1に記載のロボットエンドエフェクタ。 The obstructive conformal pad comprises :
a filler material within the bladder and flowable within the bladder and comprising particles;
the flow properties of the filler change with the pressure in the bladder, and the compliance of the bladder changes with the flow properties of the filler;
A robot end effector according to claim 1 .
ギャップに亘って互いに対向し、前記ギャップのサイズを変更するよう互いに対して移動可能であり、各対向可能な指が、内側部分と、1つ以上の自由度とを有する、一対の対向可能な指と、
前記一対の対向可能な指のうちの少なくとも1つの対向可能な指の前記内側部分にあるブラダであって、周囲の周りに封止された一対の層を含み、該一対の層は、内側層と、外側層とを含み、前記内側層は、実質的に平坦であり、前記外側層は、中空部を形成するために凸状である、ブラダと、
前記ブラダ内にあり、前記ブラダ内で流動可能であり、粒子を含む、充填材と、を含み、
前記充填材の流動特性は、前記ブラダ内の圧力と共に変化し、前記ブラダのコンプライアンスは、前記充填材の前記流動特性と共に変化し、
内部に前記充填材を備える前記ブラダは、
前記ブラダ及び前記充填材の形状が、ある物体の表面との前記パッドの係合に応答して係合形状を達成するために変更可能である、コンプライアント構成と、
前記ブラダ及び前記充填材が前記係合形状を維持し、前記コンプライアント構成における前記ブラダ及び前記充填材に比べて剛的である、剛的構成と、を含む、
少なくとも2つの構成を有する、
ロボットエンドエフェクタ。 A robotic end effector configured to provide conformal body interaction, comprising:
A pair of opposable fingers opposing each other across a gap and movable relative to each other to change the size of said gap, each opposable finger having an inner portion and one or more degrees of freedom finger and
a bladder in the inner portion of at least one opposable finger of the pair of opposable fingers, comprising a pair of layers sealed about a perimeter, the pair of layers comprising an inner layer and an outer layer, said inner layer being substantially flat and said outer layer being convex to form a hollow portion ;
a filler material within the bladder and flowable within the bladder and comprising particles;
flow properties of the filler change with pressure in the bladder, compliance of the bladder changes with the flow properties of the filler,
said bladder having said filling material therein,
a compliant configuration wherein the shape of the bladder and the filler material is variable to achieve an engaged shape in response to engagement of the pad with a surface of an object;
a rigid configuration, wherein the bladder and filler maintain the engaged shape and are stiffer than the bladder and filler in the compliant configuration;
having at least two configurations;
robot end effector.
前記ロボットエンドエフェクタの一対の対向可能な指の間のギャップ内に前記物体を位置付けることと、
前記物体上で前記一対の対向可能な指を閉じることと、
前記物体の前記表面に対して前記一対の対向可能な指の1つによって支持される妨害共形パッドを圧縮することであって、前記妨害共形パッドは、前記物体の前記表面に亘って分散し、前記表面にある任意の窪みに浸入して、前記表面と整合し且つ嵌合する前記妨害共形パッドの共形係合面を画定し、前記妨害共形パッドは、前記一対の対向可能な指の対応する指の前記内側部分に配置されるブラダを含み、該ブラダは、周囲の周りに封止された一対の層を含み、該一対の層は、内側層と、外側層とを含み、前記内側層は、実質的に平坦であり、前記外側層は、中空部を形成するために凸状である、圧縮することと、
前記共形係合面の形状を維持するために前記妨害共形パッドを剛化することと、を含む、
方法。 A method of grasping an object having a surface with a robotic end effector comprising:
positioning the object within a gap between a pair of opposable fingers of the robotic end effector;
closing the pair of opposable fingers on the object;
compressing an obstructing conformal pad supported by one of said pair of opposable fingers against said surface of said object, said obstructing conformal pad being distributed over said surface of said object; and defines a conformal engagement surface of the obstructing conformal pad that penetrates any depression in the surface to mate with and mate with the surface, the obstructing conformal pad being aligned with the pair of opposing a bladder disposed on the inner portion of a corresponding finger of a finger, the bladder including a pair of layers sealed about a perimeter, the pair of layers comprising an inner layer and an outer layer compressing , wherein the inner layer is substantially flat and the outer layer is convex to form a hollow ;
stiffening the obstructing conformal pad to maintain the shape of the conformal engagement surface;
Method.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/237,615 US11351675B2 (en) | 2018-12-31 | 2018-12-31 | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
US16/237,615 | 2018-12-31 | ||
PCT/US2019/069001 WO2020142462A1 (en) | 2018-12-31 | 2019-12-30 | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022516508A JP2022516508A (en) | 2022-02-28 |
JPWO2020142462A5 true JPWO2020142462A5 (en) | 2022-10-12 |
Family
ID=69188031
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021538198A Pending JP2022516508A (en) | 2018-12-31 | 2019-12-30 | Robot end effector with dynamic stiffening elements to adapt to object interactions |
Country Status (6)
Country | Link |
---|---|
US (1) | US11351675B2 (en) |
EP (1) | EP3906138A1 (en) |
JP (1) | JP2022516508A (en) |
KR (1) | KR102531829B1 (en) |
AU (1) | AU2019418603A1 (en) |
WO (1) | WO2020142462A1 (en) |
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2018
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2019
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- 2019-12-30 AU AU2019418603A patent/AU2019418603A1/en active Pending
- 2019-12-30 KR KR1020217020640A patent/KR102531829B1/en active IP Right Grant
- 2019-12-30 JP JP2021538198A patent/JP2022516508A/en active Pending
- 2019-12-30 WO PCT/US2019/069001 patent/WO2020142462A1/en unknown
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