Natural robot control
First Claim
1. An external apparatus for providing a means to accurately control, restrict and precisely direct the joints of a human or animal body comprising:
- externally worn and/or attached body supportive equipment such that;
this supportive equipment is operatively attached to the limbs of the body rigidly enough and snug enough that when the body supportive equipment is moved, the body part attached to it moves with it; and
this supportive equipment is operatively connected to actuator or other graduated motion causative devices at key geometric points on the supportive equipment such that a push or pull at these points is sufficiently centered around the axis of rotation to accomplish joint movement relative to the amount of push or pull; and
one or more actuator or other graduated motion causative devices used to control each joint which are operatively connected to the external body supportive equipment at those key points; and
a processing means to direct and coordinate the actuators or other motion causative devices so that the desired amount of bending of the joint or support to the joint is achieved.
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Accused Products
Abstract
An apparatus and process for controlling a remote robot responsive to the integrated sensory perceptions, natural body movements, inertia and gravitation of an operator/user who is himself responding to a three dimensional virtual world of visual and sensory conditions responsive to the environment at the remote site where the robot is operating. The user requires no training, special commands or devices to direct the robot because the user has the perception of actually being at the remote location, handling remote objects he sees and feels in his hands, walking, climbing, viewing and feeling the remote world.
164 Citations
28 Claims
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1. An external apparatus for providing a means to accurately control, restrict and precisely direct the joints of a human or animal body comprising:
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externally worn and/or attached body supportive equipment such that;
this supportive equipment is operatively attached to the limbs of the body rigidly enough and snug enough that when the body supportive equipment is moved, the body part attached to it moves with it; and
this supportive equipment is operatively connected to actuator or other graduated motion causative devices at key geometric points on the supportive equipment such that a push or pull at these points is sufficiently centered around the axis of rotation to accomplish joint movement relative to the amount of push or pull; and
one or more actuator or other graduated motion causative devices used to control each joint which are operatively connected to the external body supportive equipment at those key points; and
a processing means to direct and coordinate the actuators or other motion causative devices so that the desired amount of bending of the joint or support to the joint is achieved. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for directing the actions of remote robotics equipment comprising;
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a first computing means at a first location and a second computing means at a remote second site; and
a communication means between the first and second computing means operatively connecting the first and second communication means facilitating two way communication of data; and
a first joint control assembly to control the joints of an operator at a first site and sense joint positions; and
an operative connection between the first computing means and joint control devices and sensors at the first location facilitating exchange of data and instructions; and
a robotics means located at the second, remote site similar or relative in size and stature to the operator of the first joint control assembly at the first site; and
a second joint control assembly which can be of common robotics design to control the joints of robotics equipment at the second, remote site and sense joint positions; and
an operative connection between the second computing means and joint control devices and sensors at the second location facilitating exchange of data and instructions; and
a first processing means to retrieve positional data from the first joint control assembly, calculate data to be used to direct the remote robotics means responsive to the positions of the first joint control assembly, send that data to communications means; and
, upon receiving data from the second computing means, calculate new positional and control data, send part of that data to or exert direct control over the first joint control assembly to apply appropriate resistance and position to the first joint control assembly; and
a second processing means to read data communicated to the second computing means from the first computing means, calculate desired positions of and amounts of force to be used by joint control devices to achieve the positions indicated by the received data, send that information to or exert direct control over the second joint control assembly and respond to information returned from joint control devices by redirecting the second joint control assembly and communicating joint positions, etc. back to the first processing means. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. An apparatus for automatically resizing robotics equipment to match the stature and density attributes of a desired personality comprising:
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telescoping “
bones”
are either threaded to lengthen or shorten as one of the two elements rotates or expanded by other means; and
motor or actuator means expand or contract the “
bones”
; and
weights mounted on the outside of the bones, typically starting at the mid-point can be moved by rotation on a thread external to the outside tube of the bone or, alternatively, dense weights inside the inner tube are moved along the length of the bone to move the center of gravity of the bone and thus, as a group, they determine the center of gravity of the remote robotics; and
motor or actuator means to move the weights; and
processing means to capture from remote sensing devices or direct entry the attributes to be emulated and issue the commands to the above motors/actuators which are operatively connected.
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22. A device for supporting a person above the ground in a fashion allowing the person to have wide bodily mobility without encountering the interference of the supportive equipment comprising:
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a primary support bar connected at one end to the user'"'"'s external body support assembly, typically from the lower back, allowing free movement without the user bumping into the support bar and, at the other end, to the motion and attitude control means; and
motion and attitude control means bearing, via the connected primary support bar, the weight of the user comprising;
a roll control mechanism controlling the roll position of the user by determining the rotation of the primary support bar with a rotating stepper or other power means; and
a primary pitch control means operatively connected to the primary support bar rotating the primary support bar, and thus the user, to a desired pitch position; and
computing means to direct the motors, actuators or other powered means to move the pitch and roll components to the proper locations. - View Dependent Claims (23, 24, 25, 26)
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27. An apparatus for the capture of vibration signals for the purpose of communicating the sense of touch and impact over communications means and/or to recording means for immediate or later reproduction to be sensed by a user comprising:
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a sensing means made up of an array of vibration sensitive elements producing variations in a carried electric signal relative to pressure, impact and/or vibration; and
a communications means and computing means and/or a simple connective means to carry those electronic signals to a reproductive means either directly or by recorded delay; and
a reproductive means arrayed in the same matrix layout as the sensing means and operatively in surface contact with the user responsive to the electronic signals in a manner, such as a voice coil or any other signal-to-vibration conversion device, that reproduces the vibration at the sensing means to the user.
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28. An apparatus for the capture of heat signals for the purpose of communicating the sense of temperature over communications means and/or to recording means for immediate or later reproduction to be sensed by a user comprising:
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a sensing means made up of an array of heat sensitive elements producing variations in a carried electric signal or data relative to temperature; and
a communications means and computing means and/or a simple connective means to carry those electronic signals or data to a reproductive means either directly or by recorded delay; and
a reproductive means arrayed in the same matrix layout as the sensing means and operatively in surface contact with the user responsive to the electronic signals or data in a manner, such as a scaled resistance heating elements, scaled hot and cold thermoelectric, Peltier or any heating or cooling device that can be appropriately scaled to the desired density of the heat sensitivity matrix, and reproduces the temperature at the sensing means to the user.
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Specification