ELEMENT COMPRISING SENSORS FOR DETECTING GRAB MOTION OR GRAB RELEASE MOTION FOR ACTUATING INTER-ELEMENT HOLDING OR RELEASING

• US 20140273730A1
• Filed: 03/10/2014
• Published: 09/18/2014
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: RnD by Us BV
• Original Assignee: A.Q.B. Venture Capital B.V.
• Inventors: BRANDWIJK, Arie Arie Quirinus Bastiaan
• Granted Patent: US 9,956,494 B2
• Time in Patent Office: Days
• US Class Current: 446/484
• CPC Class Codes: A63F 9/088 Puzzles with elements that are connected by straps, strings or hinges, e.g. Rubik's Magic
• CPC Class Codes: A63H 33/04 Building blocks, strips, or similar building parts
• CPC Class Codes: A63H 33/042 Mechanical, electrical, optical, pneumatic or hydraulic arrangements; Motors
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/1617 Cellular, reconfigurable manipulator, e.g. cebot
• CPC Class Codes: G05B 2219/39163 Formation control, robots form a rigid formation, fixed relationship
• CPC Class Codes: G05B 2219/40302 Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebot

Abstract

An element having a holding mechanism, adapted for interacting with a functionally aligned holding mechanism of a similar element, and including a holding state and a released state. The holding mechanism in the holding state is engaged with the aligned holding mechanism of the similar element for holding the element positioned with respect to the similar element. The holding element in the released state is disengaged with the aligned holding mechanism. The element also includes a sensing mechanism for providing grab-detection, the grab-detection including detection of an action leading to a grip of the element, having a grip on the element, an action of releasing a grip of the element, and a combination thereof. The sensing mechanism is functionally coupled to the holding mechanism for upon the grab-detection actuating at least one of the functionally aligned holding mechanism between the holding state and the released state.

Claims

1. An element comprising:

holding means, adapted for interacting with a functionally aligned other holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means, and

sensing means for providing grab-detection, said grab-detection including detection of one selected from an action leading to a grip of said element, having a grip on said element, an action of releasing a grip of said element, and a combination thereof,

wherein said sensing means is functionally coupled to said holding means for upon said grab-detection actuating at least one of said functionally aligned holding means between said holding state and said released state.

2. The element of claim 1, wherein said holding means is actuated between said holding state and said released state when said grab-detection includes one of an action leading to a grip of said element, and an action of releasing a grip of said element.

3. The element of claim 1, said sensing means comprising a first and second sensor, functionally coupled with one another for providing said grab-detection.

4. The element of claim 1, wherein said sensing means are further adapted for determining a distance to a similar element.

5. The element of claim 1, wherein said sensing means comprises sensors that are time-correlated for providing grab-detection.

6. The element of claim 1, wherein said sensing means comprise optical sensors with spatial resolution, in particular cameras, each camera comprising a field of view comprising a detection cone.

7. The element of claim 1, wherein said holding means comprise at least one holding module comprising two parts, adapted to exert a force to one another for holding faces positioned, and wherein said two parts are provided to faces comprising said holding module, allowing each face provided with said holding module to be held in position with respect to a facing face provided with said holding module, with the one holding module part of a face interacting with an other holding part of a facing face.

8. The element of claim 1, said element being three-dimensional and comprising:

a centre point in said element;

at least three faces coupled to said centre point;

said holding means coupled to a first face of said at least three faces, adapted for interacting with said functionally aligned holding module of a facing face of a similar element, for in said holding state cooperating for holding said first face positioned with respect to said facing face, and in said released state not holding said first face positioned;

said sensing means comprising a first and second sensor, with said first sensor coupled to a second face of said at least three faces and said second sensor coupled to a third face of said at least three faces,

wherein said at least two sensors are functionally coupled with said holding means of said first face for upon said grab-detection actuating of said holding modules of said facing face between said holding state and said released state.

9. The element of claim 8, wherein said holding means comprises a holding module on each face, and said sensing means comprises a sensor on each face comprises a sensor, said sensors and said holding modules functionally coupled for upon said grab-detection actuating of said holding modules of said facing face between said holding state and said released state.

10. The element of claim 9, wherein said sensing means is adapted for alignment detection of said holding modules with holding modules of facing faces.

11. The element of claim 8, wherein said holding module comprises a holding state in which the holding module holds faces positioned, and a released state in which faces can move with respect to one another.

12. The element of claim 1, wherein the sensing means have a time frame for detection of actions of grabbing of less then 2 minutes,

13. The element of claim 1, wherein a detection range of said sensing means for grab-detection is less than 50 cm.

14. The element of claim 1, wherein the element is used in one selected from a game, a toy, an educational construction set, and a medical rehabilitation aid.

15. A system comprising:

a motion module; and

at least a first, a second and a third element, each element being three-dimensional and including;

holding means, adapted for interacting with a functionally aligned other holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means, and

sensing means for providing grab-detection, said grab-detection including detection of one selected from an action leading to a grip of said element, having a grip on said element, an action of releasing a grip of said element, and a combination thereof;

a centre point in said element;

at least one face coupled to said centre point, said at least one face including a motion-guiding module, defining a trajectory over at least part of said face, and a motion-restriction module, adapted for limiting the displacement of said centre point with respect to said centre point of one of the other elements to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said other element, when interacting with said motion module,

wherein said sensing means is functionally coupled to said holding means for upon said grab-detection actuating at least one of said functionally aligned holding means between said holding state and said released state,

wherein said motion module is adapted to be coupled to a face of one of said elements, and adapted for displacing said centre point of said one element with respect to said centre point of one of the other elements when interacting with the motion-guiding module of said one of the other elements, said motion-guiding module, said motion module and said motion-restriction module defining different module types,

wherein for displacing said centre point of said first element away from said centre point of said second element and towards said centre point of said third element, a first face of said at least one face of said first element faces at least one of a second face of said at least one face of said second element and a third face of said at least one face of said third element, thus providing facing faces, and

wherein for said displacing, said motion module interacts with at least one motion-guiding module, and with at least one motion-restriction module, with said facing faces providing said interacting modules while displacing, at least one module of said first face interacts with at least one module of at least one different module type of at least one other of said facing faces while displacing, and said at least one module of said first face interacts with at least one module of a different module type of said second face and at least one module of a different module type of said third face.

16. The system of claim 15, wherein said first face changes its interacting module for said displacing.

17. The system of claim 15, wherein while displacing, said motion module is coupled to said first face.

18. The system of claim 15, wherein at least one module of said second face and at least one module of said third face interact with a different module of said first face while displacing.

19. The system of claim 15, wherein said modules of said second face and said third face interact one after the other with a different module of said first face for said displacing.

20. The system of claim 15, wherein said modules of said first, second and third face interact alternatingly while displacing.

21. The system of claim 15, wherein each of said elements comprise a motion module.

22. The system of claim 15, wherein each of said at least one face of said elements comprises a motion module.

23. The system of claim 15, wherein each element comprises at least two of said faces.

24. The system of claim 15, wherein said sensing means are adapted for measuring a distance from an element to a neighbouring element along said trajectory.

25. A system comprising:

a motion module; and

at least a first, a second and a third element, each of said elements including;

holding means, adapted for interacting with a functionally aligned other holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means, and

sensing means for providing grab-detection, said grab-detection including detection of one selected from an action leading to a grip of said element, having a grip on said element, an action of releasing a grip of said element, and a combination thereof;

a centre point in said element;

at least one face coupled to said centre point, said face including a motion-guiding module, defining a trajectory over at least part of said face, and a motion-restriction module, adapted for limiting the displacement of said centre point with respect to said centre point of one of the other elements to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said other element, when interacting with said motion module;

wherein said sensing means is functionally coupled to said holding means for upon said grab-detection actuating at least one of said functionally aligned holding means between said holding state and said released state,

wherein said motion module is adapted to be coupled to a face of one of said elements, and adapted for displacing said centre point of said one element with respect to said centre point of one of the other elements when interacting with the motion-guiding module of said one of the other elements, said motion-guiding module, said motion module and said motion-restriction module defining different module types,

wherein for displacing said centre point of said first element away from said centre point of said second element and towards said centre point of said third element, a first face of said at least one face of said first element faces at least one of a second face of said at least one face of said second element and a third face of said at least one face of said third element, thus providing facing faces, and

wherein for said displacing, said motion module interacts with at least one motion-guiding module, and with at least one motion-restriction module, with said facing faces providing said interacting modules while displacing, at least one module of said first face interacts with at least one module of at least one different module type of at least one other of said facing faces while displacing, and said at least one module of said first face interacts with at least one module of a different module type of said second face and at least one module of a different module type of said third face.

26. The system of claim 25, wherein said first face changes its interacting module for said displacing.

27. The system of claim 25, wherein while displacing, said motion module is coupled to said first face.

28. The system of claim 25, wherein at least one module of said second face and at least one module of said third face interact with a different module of said first face while displacing.

29. The system of claim 25, wherein said modules of said second face and said third face interact one after the other with a different module of said first face for said displacing.

30. The system of claim 25, wherein said modules of said first, second and third face interact alternatingly while displacing.

31. The system of claim 25, wherein each of said elements comprise a motion module.

32. The system of claim 25, wherein each of said at least one face of said elements comprises a motion module.