Human emulation robot system

• US 20040249510A1
• Filed: 06/07/2004
• Published: 12/09/2004
• Est. Priority Date: 06/09/2003
• Status: Active Grant

• Current Assignee: Hanson Robotics, Inc.
• Original Assignee: Hanson Robotics, Inc.
• Inventors: Hanson, David F.
• Granted Patent: US 7,113,848 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 11/0015 Face robots, animated artificial faces for imitating human expressions
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

One aspect of the invention is a robot system comprising a flexible artificial skin operable to be mechanically flexed under the control of a computational system. The system comprises a first set of software instructions operable to receive and process input images to determine that at least one human likely is present. The system comprises a second set of software instructions operable to determine a response to a perceived human presence, whereby the computational system shall output signals corresponding to the response, such that, in at least some instances, the output signals cause the controlled flexing of the artificial skin.

Claims

1. A robot system comprising:

(a) a flexible artificial skin operable to be mechanically flexed under the control of a computational system,

(b) a first set of software instructions operable to receive and process input images to determine whether at least one human likely is present, and

(c) a second set of software instructions operable to determine a response to a determined likely human presence, whereby the computational system shall output signals corresponding to the response, such that, in at least some instances, the output signals cause the controlled flexing of the artificial skin.

2. The system of claim 1, wherein the artificial skin comprises a foamed elastomer.

3. The system of claim 1, wherein the artificial skin comprises a porous elastomer.

4. The system of claim 1, wherein at least some portion of the artificial skin resembles at least some portion of a human face.

5. The system of claim 1, further comprising actuators and software operable to cause the actuators in combination with at least the artificial skin to emulate at least some human nonverbal communications.

6. The system of claim 1, further comprising a screen-based display.

7. The system of claim 1, further comprising:

(a) at least one video camera operable capture the input images which are input to the computational system in digital or analog form,

(b) image processing software in the first set of software instructions operable to determine whether at least one human face likely is present in the input images, and

(c) decision software in the second set of software instructions operable to determine an output that causes the artificial skin to emulate a human expression.

8. The system of claim 1, further comprising:

(a) an artificial eye in the face of the robot, and

(b) a video camera at least partially coupled to the artificial eye, and operable to capture the input images which are input to the computational system in digital or analog form.

9. The system of claim 1, further comprising:

(a) at least one audio transducer operable to capture input sounds which are input to the computational system in digital or analog form,

(b) a third set of software instructions operable to receive and process the input sounds and indicate sound patterns in the data, and

(c) decision software in the third set of software instructions operable to determine audio pattern output signals that causes sound patterns to be output through a speaker associated with the robot.

10. The system of claim 9, further comprising:

(a) wherein the third set of software instructions is further operable to perform automatic speech recognition,

(b) wherein the third set of software instructions is further operable to determine the word output signals in response to words recognized during automatic speech recognition,

(c) decision software in the third set of software instructions operable to determine word output signals that causes words to be output through a speaker associated with the robot, and

(d) wherein the output signals are further operable to control at least some motions of the artificial skin in synchrony with the word output signals.

11. The system of claim 1, further comprising a mechanical system operable to create controlled motion in the flexible artificial skin, comprising:

(a) an anchor fixed to the artificial skin, and

(b) a member operable to actuate the anchor such that the anchor distributes force through the artificial skin to control motion of the artificial skin.

12. The system of claim 1, further comprising a mechanical system operable to create controlled motion in the flexible artificial skin, comprising:

(a) a compound series of linkages connected at joints operable to act as compound levers, and wherein at least some of the linkages are affixed to the artificial skin, and

(b) a plurality of actuators operable to impart motion to a plurality of the linkages to cause compound motion of the artificial skin.

13. The system of claim 1 wherein the robot functions as an interface between at least one human and a computer network.

14. The system of claim 1 wherein the robot functions as an automated assistant to humans.

15. The system of claim 1 wherein the robot functions as an advertising medium.

16. The system of claim 1 wherein the robot functions as a therapy tool.

17. The system of claim 1 wherein the robot functions as a tool for education.

18. The system of claim 1 wherein the robot functions as a toy.

19. The system of claim 1 wherein the robot functions as an entertainment medium.

20. The system of claim 1 wherein the robot functions as a security or police tool.

21. A method for interaction between a human and a robot, comprising:

(a) electronically determining whether a human likely is present,

(b) electronically determining an output response to a determination that a human is likely present, and

(c) controlling mechanical flexing of artificial skin associated with the robot in response to the determined output response.

22. A method as described in claim 21, wherein the artificial skin comprises a foamed elastomer.

23. The method of claim 21, wherein the artificial skin comprises a porous elastomer.

24. The system of claim 21, wherein at least some portion of the artificial skin resembles at least some portion of a human face.

25. The method of claim 21, further comprising using automatic speech recognition to help to determine the output response.

26. The method of claim 21, wherein the artificial skin comprises a portion of the robot that resembles a human face.

27. The method of claim 21, further comprising using the robot as an advertising medium.

28. The system of claim 21, further comprising using the robot as a tool for education.

29. The system of claim 21, further comprising using the robot as a toy.

30. The system of claim 21, further comprising using the robot as an entertainment medium.

31. The system of claim 21 wherein the robot functions as a security or police tool.

32. An artificial skin material comprising a mixture of freshly catalyzed elastomer that is still liquid and not yet fully cured and a freshly catalyzed foaming elastomer that is also still liquid and curing, such that the resulting cured material alternates between discrete, microscopic sections of nearly pure elastomer and discrete sections of foaming elastomer, whereby the material is easily compressed because it is permeated by gas-bubble voids, yet remains elastic because the material is interfused by areas of nearly pure elastomer.

33. A method for making an artificial skin material, comprising:

(a) building a three dimensional matrix made of removable material,

(b) perfusing the matrix with elastomer that is not as easily removable as the removable material, and

(c) removing the matrix to leave behind a web of elastomer that is permeated by at least one network of voids, wherein the web of elastomer is flexibly compressible while maintaining at least some elastic characteristics.

34. The method of claim 33, further comprising depositing the matrix of removable material with an electronically controlled three dimensional depositional printer, so as to control the structural form of the matrix of removable material, such that when the matrix is perfused with elastomer, the resulting web of elastomer adopts the negative imprint of the controlled structural form of the matrix, thus determining the structural form of the porous voids in the web of elastomer.

35. The method of claim 33, further comprising assembling the matrix by shaking loose particles of the removable material.

36. The method of claim 33, further comprising assembling the matrix from diminishingly scaled particles such that smaller particles fill interstices left by larger particles.

37. The method of claim 33, further comprising structuring pores such that the web of elastomer mechanically deforms in controlled ways under strain.

38. The method of claim 33, further comprising assembling the matrix such that stress on intermittent thicker areas in the web of elastomer is relieved when the web of elastomer is under stress.

39. Artificial skin material made by:

(a) building a three dimensional matrix made of removable material,

(b) perfusing the matrix with elastomer that is not as easily removable as the removable material, and

c) removing the matrix to leave behind a web of elastomer that is permeated by at least one network of voids, wherein the web of elastomer is flexibly compressible while maintaining at least some elastic characteristics.