WO2006054960A1 - Mecanisme et dispositif ameliores reproduisant les traits d’expression pour des personnages animes - Google Patents

Mecanisme et dispositif ameliores reproduisant les traits d’expression pour des personnages animes Download PDF

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Publication number
WO2006054960A1
WO2006054960A1 PCT/US2004/035850 US2004035850W WO2006054960A1 WO 2006054960 A1 WO2006054960 A1 WO 2006054960A1 US 2004035850 W US2004035850 W US 2004035850W WO 2006054960 A1 WO2006054960 A1 WO 2006054960A1
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WO
WIPO (PCT)
Prior art keywords
rotatable
link
pin
platform
elastic
Prior art date
Application number
PCT/US2004/035850
Other languages
English (en)
Inventor
Brian L. Patton
Original Assignee
Thin Air Creations Llc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Thin Air Creations Llc filed Critical Thin Air Creations Llc
Priority to PCT/US2004/035850 priority Critical patent/WO2006054960A1/fr
Publication of WO2006054960A1 publication Critical patent/WO2006054960A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/36—Details; Accessories
    • A63H3/365—Details; Accessories allowing a choice of facial features, e.g. to change the facial expression

Definitions

  • the present invention relates to a mechanical apparatus used to cause various expressions on the face of an animated character.
  • This invention pertains to an expressive feature mechanism used in an animated character.
  • the goal of this invention is to achieve a full range of human-like and recognizable facial expressions. This goal has been addressed by others and has often led to the development of devices used in animated characters that have mouths, which open and close to mimic speaking or sucking.
  • An example of such work would be U.S. Pat No. 4,808,142 by Hopkins, which has a motor driven mouth actuator to move the mouth between open and closed positions.
  • U.S. Pat. No. 6,352,464 by Madland et al. describes a mechanism for an animated character.
  • the Madland Patent describes a facial control system comprising two lip chains embedded behind two lips. The lip chains are attached at either end as well as at a center portion. By positioning the movable center portion relative to the moveable ends various facial expressions can be achieved, however, the described mechanism does not allow for stretching of the lips as it occurs on human and animal faces.
  • the current invention comprises an improved means to make animated characters with complex facial expressions in a minimal component, minimal cost, highly efficient mechanism.
  • This mechanism improves upon the mechanism described in the previously submitted U.S. Provisional Application Serial No. 60/381,722 and PCT/ US03/15120 filed May 14, 2003 by allowing stretch of the lip member beyond the radius of the primary drive wheels.
  • This improved design creates a more recognizable expression with the added benefit of a more compact design per breadth of smile.
  • the invention comprises of a pair of wheels or meshed gears used to generate human-like expressions.
  • the primary goal of the wheels or gears is to directly stretch or allow for contraction of the elastomeric or flexible material or device attached to a point along a radius, or to drive a series of levers to stretch or allow for contraction of the elastomeric or flexible material.
  • Meshing of the gears allows for a reduction of drive sources while maintaining bilateral symmetry of motion.
  • Independent wheels allow for asymmetric motion.
  • a meshed gear mechanism one gear and its attachment point mirror the other in the pair.
  • the elastomeric or flexible material or device can comprise a variety of conformations, ranging from a continuous band to a molded mask hiding and yet attached to the entire mechanism.
  • the transmission of movement from the gears or levers to the elastomeric or flexible material or device may also occur via indirect coupling such as magnetism.
  • the invention advantageously provides a moving lip mechanism for animated characters or devices that is efficient in its design and construction.
  • the device is capable of producing a range of motions in a range of speeds able to simulate a variety of expressions and mouth movements. With the synchronization of sound the device can simulate smooth, realistic vocalization.
  • FIG. Ia is an isometric view of the preferred embodiment showing a pair of dual gear, single drive mechanisms using motors with non-integrated encoding with the elastomeric material in place around attachment points on each of the gears and gear driven link mechanisms.
  • FIG. Ib is an isometric view with the support platform removed from the preferred embodiment showing a pair of dual gear, single drive mechanisms and employing motors with non-integrated encoding with the elastomeric material in place around attachment points on each of the gears and gear driven link mechanisms.
  • FIG. Ic - Ie are additional orthogonal views of the preferred embodiment showing a pair of dual gear, single drive mechanisms and employing motors with non-integrated encoding with the elastomeric material in place around attachment points on each of the gears and gear driven link mechanisms.
  • FIG. 2 is a isometric view of the preferred embodiment showing only a single drive and gearing assembly.
  • FIG. 3a- 3f are various top views showing the gear arrangement and relative position of the attachment points and inflection/deflection points to present the elastomeric material in a human-like expression.
  • FIG. 4a is an isometric view showing a pair of dual gear, single drive mechanisms using motors with non-integrated encoding with the elastomeric material in place around attachment points on each of the gears and gear driven link mechanisms.
  • FIG. 4b is an isometric view with support platforms removed showing a pair of dual gear, sirigle drive mechanisms employing motors with non-integrated encoding with the elastomeric material in place around attachment points on each of the gears and gear driven link mechanisms.
  • FIG. 4c - 4e are additional orthogonal views showing a pair of dual gear, single drive mechanisms using motors with non-integrated encoding with the elastomeric material in place around attachment points on each of the gears and gear driven link mechanisms.
  • FIG. 5a is a top view showing a mechanism, utilizing slotted links on both the upper and lower portions of the mechanism.
  • FIG. 5b is an isometric view showing a mechanism, utilizing slotted links on both the upper and lower portions of the mechanism.
  • FIG. 6a is a top view showing a mechanism, utilizing slotted links on both the upper and lower portions of the mechanism.
  • FIG. 6b is an isometric view showing a mechanism, utilizing links on both the upper and lower portions of the mechanism.
  • FIG. 7a- 7f are various top plan views showing the gear arrangement and relative position of the attachment points and inflection/deflection points to present the elastomeric material in an expression.
  • the mechanism 10 comprises a lower motor support platform 119, an upper motor support platform 118 and a gear support platform 117.
  • the motor support platform secures two motors 120 and 122, also referred to as a drive means, which in turn have small motor drive gears 124 and 126 respectively attached to their perspective drive shafts.
  • Gears 124 and 126 mesh with reduction gears 128 and 130 respectively.
  • the reduced diameters of reduction gears 128 and 130 mesh with primary expression driving gears 132 and 134 respectively.
  • Expression diving gears are also referred to as rotatable means.
  • Positional sensing of the primary expression driving gear 132 is achieved by variable resistance or positional contacts on the control board 140 in a manner known to those of ordinary skills in the art. It is understood that other commercial means of encoding of position would be equally effective in positional sensing. Magnetic encoding, transmission slots counting, and reflective encoding are examples of other common methods of rotational encoding.
  • Primary expression driving gears 132 and 134 in turn mesh with secondary expression driving gears 144 and 146 respectively.
  • Expression driving gears 132 and 134 have one drive pin each affixed to a point on their surface.
  • Expression driving gears 144 and 146 have two drive pins each affixed to points in relation to the radius of each respective expression driving gear.
  • Expression driving gears 144 and 146 drive pins are at a fixed degree apart from one another.
  • primary expression driving gear 132 it has attachment drive pin 160 and inflection-deflection drive pin 166 affixed.
  • primary expression driving gear 144 it has attachment drive pin 162 and inflection-deflection drive pin 164 affixed.
  • primary expression driving gear 134 it has a link drive pin 204 affixed.
  • primary expression driving gear 146 it has a link drive pin 206 affixed. Rotation of gears 134 and 146 causes link drive pins 204 and 206 to push or pull inflection-deflection links 216 and 218.
  • inflection-deflection links 216 and 218 causes the pivoting of links 200 and 202 on fulcrums 212 and 214 respectively.
  • Affixed to links 216 and 218 are inflection-deflection points 168 and 170 respectively. Fitted around the four attachment points is elastomeric material 180, also referred to as an elastic loop means.
  • gearlocks 182 and 184 fits into the teeth of secondary expression driving gears 144 and 146 respectively.
  • Gearlock 182 is allowed to release secondary expression driving gear 144 by having shaft 186 pulled by solenoid 190 and pivoted on its axis.
  • Gearlock 184 is allowed to release secondary expression driving gear 146 by having shaft 188 pulled by solenoid 192 and pivoted on its axis.
  • FIG. Ia illustrates an isometric view of the preferred embodiment of the mechanism 10.
  • the attachment points 156, 158, 160, and 162 for holding the elastomeric material 180 represent lips, in a smiling expression.
  • power to the motors 120 and 122 see also FIG.
  • FIG. Ib shows the same isometric view of the preferred embodiment as FIG. Ia but with the removal of support platforms 117,118,119 and circuit board 140 for clarity, see also FIG. Ia.
  • FIG. Ic and FIG. Id also illustrate the preferred embodiment and show a right side and back view respectively of the mechanism 10. These views give clear perspectives of the relative positions of reduction gears 128 and 130 to their meshed small motor drive gears 124 and 126 and primary expression driving gears 132 and 134.
  • FIG. Ie also describes the preferred embodiment and illustrates a top plan view of the mechanism 10. This view would be the side that faces forward and represents the mouth of an animated character or design.
  • FIG. 2 illustrates in a detail view a single motor and drive system for the preferred embodiment. The portion shown is the upper right quadrant of the facial expression system.
  • FIGS. 3a-3f illustrates examples of expression driving gear arrangements and their effect on the elastomeric material 180 stretched around the attachment points 156!, 158, 160 and 162.
  • FIG. 3a, FIG. 3b and FIG. 3c show arrangements approximating a smile.
  • FIG. 3d shows the mechanism at rest.
  • FIG. 3e - FIG. 3f shows arrangements emulating sadness and anger.
  • the mechanism 20, comprises a lower motor support platform 319, an upper motor support platform 318 and a gear support platform 317.
  • the motor support platform secures two motors 320 and 322, which in turn have small motor drive gears 324 and 326 respectively attached to their perspective drive shafts.
  • Gears 324 and 326 mesh with reduction gears 328 and 330 respectively.
  • the reduced diameters of reduction gears 328 and 330 mesh with primary expression driving gears 332 and 334 respectively.
  • Positional sensing of the primary expression driving gear 332 is achieved by variable resistance or positional contacts on the control board 340. It is understood that other commercial means of encoding of position would be equally effective in positional sensing.
  • Primary expression driving gears 332 and 334 in turn mesh with secondary expression driving gears 344 and 346 respectively.
  • Each expression driving gear has two drive pins affixed to points in relation to the radius of each respective expression driving gear.
  • Each gear's drive pins are at a fixed degree apart from one another.
  • primary expression driving gear 332 it has attachment drive pin 360 and inflection-deflection drive pin 366 affixed.
  • primary expression driving gear 344 it has attachment point 362 and inflection-deflection drive pin 364 affixed.
  • attachment points 356 and 358 which also serve as fulcrum points for inflection links 416 and 418 respectively.
  • Affixed to links 416 and 418 are inflection-deflection points 368 and 370 respectively.
  • Fitted around the four attachment points is elastomeric material 380.
  • gearlocks 382 and 384 fits into the teeth of secondary expression driving gears 344 and 346 respectively.
  • Gearlock 382 is allowed to release secondary expression driving gear 344 by having shaft 386 pulled by solenoid 390 and pivoted on its axis.
  • Gearlock 384 is allowed to release secondary expression driving gear 346 by having shaft 388 pulled by solenoid 392 and pivoted on its axis.
  • FIG. 4a is an isometric view of the alternate embodiment of the mechanism 20.
  • the attachment points 356, 358, 360, and 362 for holding the elastomeric material 380 represent lips, in a smiling expression.
  • power to the motors 320 and 322 (see also FIG. 4b) is not applied once the desired position is sensed by control board 340. Instead, position is maintained against the pull of elastomeric material 380 by securing drive gears 344 and 346 against rotation with the gearlocks 382 and 384 (see also FIG. 4b).
  • Rotation of the motors and a change in expression of 20 as represented by the position of 380 is governed by the activation of solenoids 390 and 392, see also FIG. 4b, and the pull back of respective gearlocks 382 and 384.
  • FIG. 4b shows the same isometric view of the alternate embodiment as FIG. 4a but with the removal of support platforms 317, 318, 319 and circuit board 340 for clarity, see also FIG. 4a.
  • FIG. 4c and FIG. 4d also describe the alternate embodiment and show a right side and back view of the mechanism 20. These views give clear perspectives of the relative positions of reduction gears 328 and 330 to their meshed small motor drive gears 324 and 326 and primary expression driving gears 332 and 334.
  • FIG.4e describes the alternate embodiment and illustrates a top plan view of the mechanism 20. This view would be the side that faces forward and represents the mouth of an animated character or design.
  • FIG. 5a is a top plan view of an alternate embodiment of the mechanism 30. This view illustrates the side that faces forward and represents the mouth of an animated character or design.
  • FIG. 5b is an isometric view of an alternate embodiment of the mechanism 30.
  • the attachment points 356, 358, 454, and 456 for holding the elastomeric material 380 represent lips, in a form suggestive of smiling expression.
  • FIGS. 5a- 5b together provide top and isometric views respectively of a mechanism using pin and slot driven links on both the upper and lower gear pairs to enhance the motion of elastomeric material 380.
  • the mechanism 30 is identical to the mechanism 20 with the exception of the four links and their associated drive pin locations and attached pins.
  • pin and slot driven links on both the upper and lower gear pairs a more comical expression can be achieved. In practice, this method has more novelty applications since the human frown is at a greater arc than a human smile.
  • lower links would not be in the preferred embodiment but should be included as a method for other novelty devices and characters. Referring to FIGS.
  • the mechanism 30, comprises a lower motor support platform 319, an upper motor support platform 318 and a gear support platform 317.
  • the motor support platform secures two motors 320 and 322, which in turn have small motor drive gears 324 and 326 respectively attached to their perspective drive shafts.
  • Gears 324 and 326 mesh with reduction gears 328 and 330 respectively.
  • the reduced diameters of reduction gears 328 and 330 mesh with primary expression driving gears 332 and 334 respectively.
  • Positional sensing of the primary expression driving gear 332 is achieved by variable resistance or positional contacts on the control board 340. It is understood that other commercial means of encoding of position would be equally effective in positional sensing.
  • Primary expression driving gears 332 and 334 in turn mesh with secondary expression driving gears 344 and 346 respectively.
  • Each expression driving gear has two drive pins affixed to points in relation to the radius of each respective expression driving gear.
  • Each gear's drive pins are at a fixed degree apart from one another.
  • primary expression driving gear 332 it has link drive pin 436 and inflection-deflection drive pin 452 affixed.
  • primary expression driving gear 344 it has link drive pin 434 and inflection-deflection drive pin 450 affixed.
  • primary expression driving gear 334 it has a link drive pin 404 and inflection-deflection drive pin 420 affixed.
  • primary expression driving gear 446 it has a link drive pin 406 and inflection- deflection drive pin 422 affixed.
  • Rotation of gears 334 and 346 cause link drive pins 404 and 406 to pivot links 400 and 402 as they travel through slots 408 and 410 respectively.
  • Pivoting of links 400 and 402 on fulcrums 412 and 414 then cause inflection-deflection links 416 and 418 to be pulled outward or pushed inward guided by drive pins 420 and 422 respectively.
  • Links 400 and 416 together form the first crank means.
  • Links 402 and 418 together form the second crank means
  • Affixed to links 400 and 402 are attachment points 356 and 358 which also serve as fulcrum points for inflection links 416 and 418 respectively.
  • Affixed to links 416 and 418 are inflection-deflection points 368 and 370 respectively.
  • Rotation of gears 332 and 344 cause link drive pins 434 and 436 to pivot links 430 and 432 as they travel through slots 438 and 440 respectively. Pivoting of links 430 and 432 on fulcrums 442 and 444 then cause inflection-deflection links 446 and 448 to be pulled outward or pushed inward guided by drive pins 450 and 452 respectively.
  • Links 430 and 446 together form the third crank means.
  • Affixed to links 430 and 432 are attachment points 454 and 456 which also serve as fulcrum points for inflection links 446 and 448 respectively.
  • Affixed to links 446 and 448 are inflection-deflection points 458 and 460 respectively. Fitted around the four attachment points is elastomeric material 380.
  • gearlocks 382 and 384 fit into the teeth of secondary expression driving gears 344 and 346 respectively.
  • Gearlock 382 is allowed to release secondary expression driving gear 344 by having shaft 386 pulled by solenoid 390 and pivoted on its axis.
  • Gearlock 384 is allowed to release secondary expression driving gear 346 by having shaft 388 pulled by solenoid 392 and pivoted on its axis.
  • FIG. 6a is a top plan view of an alternate embodiment of the mechanism 40. This view illustrates the side that faces forward and represents the mouth of an animated character or design.
  • FIG. 6b is an isometric view of an alternate embodiment of the mechanism 40.
  • pins 168, 170, 246 and 248 are contacting the outside of elastomeric material loop 180.
  • the attachment points 156, 158, 242, and 244 are stretching from the inside of elastomeric material loop 180.
  • FIGS. 6a-6b together provide top and isometric views respectively of a mechanism using links on both the upper and lower gear pairs to enhance the motion of elastomeric material 180.
  • the mechanism 40 is identical to the mechanism 10 with the exception of the four links and their associated drive pin locations and attached pins.
  • the mechanism 40 according to this alternate embodiment, comprises a lower motor support platform 119, an upper motor support platform 118 and a gear support platform 117.
  • the motor support platform secures two motors 120 and 122, which in turn have small motor drive gears 124 and 126 respectively attached to their perspective drive shafts. Gears 124 and 126 mesh with reduction gears 128 and 130 respectively.
  • the reduced diameters of reduction gears 128 and 130 mesh with primary expression driving gears 132 and 134 respectively.
  • Positional sensing of the primary expression driving gear 132 is achieved by variable resistance or positional contacts on the control board 140. It is understood that other commercial means of encoding of position would be equally effective in positional sensing. Magnetic encoding, transmission slots counting, and reflective encoding are examples of other common methods of rotational encoding.
  • Primary expression driving gears 132 and 134 in turn mesh with secondary expression driving gears 144 and 146 respectively.
  • Each expression driving gear has a single drive pin affixed. In the case of primary expression driving gear 132, it has link drive pin 240 affixed. In the case of primary expression driving gear 144, it has link drive pin 238 affixed.
  • gear 134 In the case of primary expression driving gear 134, it has a link drive pin 204 affixed. In the case of primary expression driving gear 146, it has a link drive pin 206 affixed. Rotation of gears 134 and 146 causes link drive pins 204 and 206 to push or pull inflection-deflection links 216 and 218. The pushing or pulling of inflection-deflection links 216 and 218 in turn causes the pivoting of links 200 and 202 on fulcrums 212 and 214 respectively. Links 200 and 216 together form the first crank means.
  • Links 202 and 218 together form the second crank means Rotation of gears 144 and 132 causes link drive pins 238 and 240 to push or pull inflection-deflection links 234 and 236 respectively. The pushing or pulling of inflection-deflection links 234 and 236 in turn causes the pivoting of links 230 and 232 on fulcrums 250 and 252 respectively.
  • Links 230 and 234 together form the third crank means.
  • Links 232 and 236 together form the forth crank means Affixed to links 200 and 204 are attachment points 156 and 158 which also serve as fulcrum points for inflection links 216 and 218 respectively.
  • Affixed to links 216 and 218 are inflection-deflection points 168 and 170 respectively.
  • attachment points 242 and 244 which also serve as fulcrum points for inflection links 234 and 236 respectively.
  • Affixed to links 234 and 236 are inflection-deflection points 246 and 248 respectively.
  • Fitted around the four attachment points is elastomeric material 180.
  • gearlocks 182 and 184 fit into the teeth of secondary expression driving gears 144 and 146 respectively.
  • Gearlock 182 is allowed to release secondary expression driving gear 144 by having shaft 186 pulled by solenoid 190 and pivoted on its axis.
  • Gearlock 184 is allowed to release secondary expression driving gear 146 by having shaft 188 pulled by solenoid 192 and pivoted on its axis.
  • FIGS. 7a-7f illustrate examples of expression driving gear arrangements for mechanism 20 and their effect on the elastomeric material stretched around the attachment points.
  • FIG. 7a, FIG. 7b and FIG. 7c show arrangements approximating a smile.
  • FIG. 7d shows the mechanism at rest.
  • FIG. 7e - FIG. 7f shows arrangements emulating sadness and anger.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Toys (AREA)

Abstract

La présente invention décrit un mécanisme qui reproduit les expressions faciales humaines pour leur utilisation dans des personnages animés. Sur la surface avant du mécanisme, quatre engrenages (132, 134, 144 et 146), engrenés par paires, fournissent des surfaces de rotation pour une série de manivelles à manetons (156, 158, 160, 162, 164, 166, 168 et 170). Pendant que les engrenages tournent, les manivelles à manetons mettent en prise une boucle de matériau élastomère (180). A mesure que les manetons (156, 158, 160 et 162) s’éloignent l’un de l’autre, la boucle (180) s’étire. A mesure que les manetons (156, 158, 160 et 162) se rapprochent l’un de l’autre, la boucle (180) se contracte. D’autres manetons (164, 166, 204 et 206) placés sur les manivelles ou les engrenages provoquent l’étirement ou la flexion de la boucle pendant que les engrenages tournent. L’étirement ou la flexion de la boucle (180) qui en résulte reproduisent de façon plus précise et plus efficace les expressions faciales.
PCT/US2004/035850 2004-10-28 2004-10-28 Mecanisme et dispositif ameliores reproduisant les traits d’expression pour des personnages animes WO2006054960A1 (fr)

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PCT/US2004/035850 WO2006054960A1 (fr) 2004-10-28 2004-10-28 Mecanisme et dispositif ameliores reproduisant les traits d’expression pour des personnages animes

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PCT/US2004/035850 WO2006054960A1 (fr) 2004-10-28 2004-10-28 Mecanisme et dispositif ameliores reproduisant les traits d’expression pour des personnages animes

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103341859A (zh) * 2013-07-02 2013-10-09 上海大学 机器人嘴部五杆运动机构

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US2250916A (en) * 1938-02-28 1941-07-29 Automatic Instr Company Robot lip action
US3828469A (en) * 1972-02-11 1974-08-13 Giroud Gerard Head with lips movable by rods eccentrically mounted to a wheel
US3841020A (en) * 1966-04-22 1974-10-15 Mattel Inc Facial animating means for a figure toy
US4177589A (en) * 1977-10-11 1979-12-11 Walt Disney Productions Three-dimensional animated facial control
US4294033A (en) * 1979-02-09 1981-10-13 Marvin Glass & Associates Animated talking doll
US4805328A (en) * 1986-09-29 1989-02-21 Marantz Company Talking doll
US4808142A (en) * 1987-02-06 1989-02-28 Coleco Industries, Inc. Doll with controlled mouth actuation in simulated speech
US5376040A (en) * 1993-12-23 1994-12-27 Hickman; James W. Doll head with an elastically deformable mouth
US6352464B1 (en) * 1999-04-29 2002-03-05 Douglas J. Madland Mechanism for animated character
US6386942B1 (en) * 2000-10-26 2002-05-14 Tai-Ning Tang Toy's eyebrow and mouth moving mechanism
US6503123B2 (en) * 1999-12-30 2003-01-07 Toyinnovation Inc Toys incorporating geneva gear assemblies
US6544098B1 (en) * 1998-12-15 2003-04-08 Hasbro, Inc. Interactive toy

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2250916A (en) * 1938-02-28 1941-07-29 Automatic Instr Company Robot lip action
US3841020A (en) * 1966-04-22 1974-10-15 Mattel Inc Facial animating means for a figure toy
US3828469A (en) * 1972-02-11 1974-08-13 Giroud Gerard Head with lips movable by rods eccentrically mounted to a wheel
US4177589A (en) * 1977-10-11 1979-12-11 Walt Disney Productions Three-dimensional animated facial control
US4294033A (en) * 1979-02-09 1981-10-13 Marvin Glass & Associates Animated talking doll
US4805328A (en) * 1986-09-29 1989-02-21 Marantz Company Talking doll
US4808142A (en) * 1987-02-06 1989-02-28 Coleco Industries, Inc. Doll with controlled mouth actuation in simulated speech
US5376040A (en) * 1993-12-23 1994-12-27 Hickman; James W. Doll head with an elastically deformable mouth
US6544098B1 (en) * 1998-12-15 2003-04-08 Hasbro, Inc. Interactive toy
US6352464B1 (en) * 1999-04-29 2002-03-05 Douglas J. Madland Mechanism for animated character
US6503123B2 (en) * 1999-12-30 2003-01-07 Toyinnovation Inc Toys incorporating geneva gear assemblies
US6386942B1 (en) * 2000-10-26 2002-05-14 Tai-Ning Tang Toy's eyebrow and mouth moving mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103341859A (zh) * 2013-07-02 2013-10-09 上海大学 机器人嘴部五杆运动机构

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