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1. 发明申请

US20120185218A1 PHYSICAL FACE CLONING 有权
标题翻译：物理表面克隆
公开(公告)号：US20120185218A1
公开(公告)日：2012-07-19
申请号：US13275481
申请日：2011-10-18
申请人： Bernd Bickel , Peter Kaufmann , Bernhard Thomaszewski , Derek Edward Bradley , Philip John Jackson , Stephen R. Marschner , Wojciech Matusik , Markus Gross , Thabo Dominik Beeler
发明人： Bernd Bickel , Peter Kaufmann , Bernhard Thomaszewski , Derek Edward Bradley , Philip John Jackson , Stephen R. Marschner , Wojciech Matusik , Markus Gross , Thabo Dominik Beeler
IPC分类号： G06F17/50
CPC分类号： G06F19/3437 , A61B5/442 , A63F2300/6607 , G06F17/10 , G06F17/5018 , G06K9/00268 , G06T17/00 , G06T19/20 , G06T2207/30201 , G06T2219/2021 , G10L2021/105 , G16H50/50
摘要： A computer-implemented method is provided for physical face cloning to generate a synthetic skin. Rather than attempt to reproduce the mechanical properties of biological tissue, an output-oriented approach is utilized that models the synthetic skin as an elastic material with isotropic and homogeneous properties (e.g., silicone rubber). The method includes capturing a plurality of expressive poses from a human subject and generating a computational model based on one or more material parameters of a material. In one embodiment, the computational model is a compressible neo-Hookean material model configured to simulate deformation behavior of the synthetic skin. The method further includes optimizing a shape geometry of the synthetic skin based on the computational model and the captured expressive poses. An optimization process is provided that varies the thickness of the synthetic skin based on a minimization of an elastic energy with respect to rest state positions of the synthetic skin.
摘要翻译：提供了用于物理面部克隆以产生合成皮肤的计算机实现的方法。不是试图再现生物组织的机械性质，而是采用输出导向方法，其将合成皮肤模拟成具有各向同性和均匀性质的弹性材料（例如硅橡胶）。该方法包括从人类对象捕获多个表现姿态，并且基于材料的一个或多个材料参数生成计算模型。在一个实施例中，计算模型是被配置为模拟合成皮肤的变形行为的可压缩的新胡克斯材料模型。该方法还包括基于计算模型和所捕获的表达姿态来优化合成皮肤的形状几何。提供一种优化方法，其基于相对于合成皮肤的静止状态位置的弹性能量的最小化来改变合成皮肤的厚度。

2. 发明授权

US09082222B2 Physical face cloning 有权
标题翻译：身体克隆
公开(公告)号：US09082222B2
公开(公告)日：2015-07-14
申请号：US13275481
申请日：2011-10-18
申请人： Bernd Bickel , Peter Kaufmann , Bernhard Thomaszewski , Derek Edward Bradley , Philip John Jackson , Stephen R. Marschner , Wojciech Matusik , Markus Gross , Thabo Dominik Beeler
发明人： Bernd Bickel , Peter Kaufmann , Bernhard Thomaszewski , Derek Edward Bradley , Philip John Jackson , Stephen R. Marschner , Wojciech Matusik , Markus Gross , Thabo Dominik Beeler
IPC分类号： G06F17/50 , G06T19/20 , G06K9/00 , G06T17/00 , A61B5/00 , G10L21/10
CPC分类号： G06F19/3437 , A61B5/442 , A63F2300/6607 , G06F17/10 , G06F17/5018 , G06K9/00268 , G06T17/00 , G06T19/20 , G06T2207/30201 , G06T2219/2021 , G10L2021/105 , G16H50/50
摘要： A computer-implemented method is provided for physical face cloning to generate a synthetic skin. Rather than attempt to reproduce the mechanical properties of biological tissue, an output-oriented approach is utilized that models the synthetic skin as an elastic material with isotropic and homogeneous properties (e.g., silicone rubber). The method includes capturing a plurality of expressive poses from a human subject and generating a computational model based on one or more material parameters of a material. In one embodiment, the computational model is a compressible neo-Hookean material model configured to simulate deformation behavior of the synthetic skin. The method further includes optimizing a shape geometry of the synthetic skin based on the computational model and the captured expressive poses. An optimization process is provided that varies the thickness of the synthetic skin based on a minimization of an elastic energy with respect to rest state positions of the synthetic skin.
摘要翻译：提供了用于物理面部克隆以产生合成皮肤的计算机实现的方法。不是试图再现生物组织的机械性质，而是采用输出导向方法，其将合成皮肤模拟成具有各向同性和均匀性质的弹性材料（例如硅橡胶）。该方法包括从人类对象捕获多个表现姿态，并且基于材料的一个或多个材料参数生成计算模型。在一个实施例中，计算模型是被配置为模拟合成皮肤的变形行为的可压缩的新胡克斯材料模型。该方法还包括基于计算模型和所捕获的表达姿态来优化合成皮肤的形状几何。提供一种优化方法，其基于相对于合成皮肤的静止状态位置的弹性能量的最小化来改变合成皮肤的厚度。

3. 发明授权

US07740953B2 Skin system with elastic components having differing hardnesses for use with robotics 有权
标题翻译：具有弹性组件的皮肤系统具有不同的硬度用于机器人
公开(公告)号：US07740953B2
公开(公告)日：2010-06-22
申请号：US12029827
申请日：2008-02-12
申请人： Philip John Jackson , Bryan S. Tye
发明人： Philip John Jackson , Bryan S. Tye
IPC分类号： B32B1/00
CPC分类号： B29C39/025
摘要： An artificial skin system for use with a robotic assembly such as to provide an animated robot head with realistic skin movement. The skin system includes a receiving component for contacting the manipulator mechanism of the robotic assembly and also includes an exterior skin component that extends over the receiving component. An inner surface of the exterior skin component is integrally bonded to the receiving component such that the exterior skin component moves with the receiving component when a manipulator mechanism or robotics anchored to the receiving component moves or applies a force. The exterior skin component is formed of an elastic material with a second hardness that differs from a first hardness of elastic material of the receiving component, e.g., is less than the first hardness. The skin system includes a backing component bonded to the other components with a third hardness less than the first and second hardnesses.
摘要翻译：用于机器人组件的人造皮肤系统，例如提供具有逼真皮肤运动的动画机器人头部。皮肤系统包括用于接触机器人组件的操纵器机构的接收部件，并且还包括在接收部件上延伸的外部皮肤部件。外部皮肤部件的内表面一体地结合到接收部件，使得外部皮肤部件随着接收部件移动或者施加力而移动到接收部件。外部皮肤部件由具有与接收部件的弹性材料的第一硬度不同的第二硬度的弹性材料形成，例如小于第一硬度。皮肤系统包括以比第一和第二硬度小的第三硬度粘合到其它部件的背衬部件。

4. 发明授权

US07718105B2 Fabricating multi-component skin systems for robotics and other applications 失效
标题翻译：制造机器人和其他应用的多组分皮肤系统
公开(公告)号：US07718105B2
公开(公告)日：2010-05-18
申请号：US12124567
申请日：2008-05-21
申请人： Bryan S. Tye , Philip John Jackson
发明人： Bryan S. Tye , Philip John Jackson
IPC分类号： B29C39/12
CPC分类号： B29C33/3835 , A63H9/00 , B29C39/025 , B33Y50/00 , B33Y80/00
摘要： A method for fabricating a product, such as an amimatronic character, with artificial skin. The method includes providing data defining an exterior surface geometry of the product. A base geometry model of the product is generated based on the exterior surface geometry data, which in turn is used to fabricate a prototype of the product. Then, an exterior skin mold is formed using the product prototype mounted on an alignment block. The method includes fabricating an inner support structure based on the base geometry model having an exterior geometry smaller than the 3D base geometry model by the thickness of the exterior skin. The inner support structure is positioned within the mold with the inner support structure mounted upon the alignment block, which is received in the mold. The product is formed by pouring material for an exterior skin layer into the mold and over the inner support structure.
摘要翻译：用于制造具有人造皮肤的产品的方法，例如电动马达角色。该方法包括提供定义产品的外表面几何形状的数据。产品的基本几何模型是基于外表面几何数据生成的，这些数据又用于制造产品的原型。然后，使用安装在对准块上的产品原型形成外部皮肤模具。该方法包括基于具有小于3D基础几何模型的外部几何形状的基本几何模型来制造内部支撑结构以外部皮肤的厚度。内部支撑结构定位在模具内，内部支撑结构安装在对准块上，该对准块被容纳在模具中。该产品通过将用于外部皮肤层的材料倒入模具中并在内部支撑结构上而形成。

5. 发明申请

US20090289391A1 FABRICATING MULTI-COMPONENT SKIN SYSTEMS FOR ROBOTICS AND OTHER APPLICATIONS 失效
标题翻译：制造机器人和其他应用的多组分皮肤系统
公开(公告)号：US20090289391A1
公开(公告)日：2009-11-26
申请号：US12124567
申请日：2008-05-21
申请人： Bryan S. Tye , Philip John Jackson
发明人： Bryan S. Tye , Philip John Jackson
IPC分类号： B29C39/44
CPC分类号： B29C33/3835 , A63H9/00 , B29C39/025 , B33Y50/00 , B33Y80/00
摘要： A method for fabricating a product, such as an amimatronic character, with artificial skin. The method includes providing data defining an exterior surface geometry of the product. A base geometry model of the product is generated based on the exterior surface geometry data, which in turn is used to fabricate a prototype of the product. Then, an exterior skin mold is formed using the product prototype mounted on an alignment block. The method includes fabricating an inner support structure based on the base geometry model having an exterior geometry smaller than the 3D base geometry model by the thickness of the exterior skin. The inner support structure is positioned within the mold with the inner support structure mounted upon the alignment block, which is received in the mold. The product is formed by pouring material for an exterior skin layer into the mold and over the inner support structure.
摘要翻译：用于制造具有人造皮肤的产品的方法，例如电动马达角色。该方法包括提供定义产品的外表面几何形状的数据。产品的基本几何模型是基于外表面几何数据生成的，这些数据依次用于制造产品的原型。然后，使用安装在对准块上的产品原型形成外部皮肤模具。该方法包括基于具有小于3D基础几何模型的外部几何形状的基本几何模型来制造内部支撑结构以外部皮肤的厚度。内部支撑结构定位在模具内，内部支撑结构安装在对准块上，该对准块被容纳在模具中。该产品通过将用于外部皮肤层的材料倒入模具中并在内部支撑结构上而形成。

6. 发明授权

US09403099B2 Modeling skin-covered robotics devices including artistic digital iterative design processes 有权
标题翻译：建模皮肤覆盖的机器人设备，包括艺术数字迭代设计过程
公开(公告)号：US09403099B2
公开(公告)日：2016-08-02
申请号：US12971317
申请日：2010-12-17
申请人： Bryan S. Tye , Philip John Jackson
发明人： Bryan S. Tye , Philip John Jackson
IPC分类号： A63H9/00 , B29C33/38 , B29C39/02
CPC分类号： A63H9/00 , B29C33/3835 , B29C39/025
摘要： A method for fabricating a product, such as an animatronic character, with artificial skin. The method includes providing data defining an exterior surface geometry of the product. A base geometry model of the product is generated based on the exterior surface geometry data, which in turn is used to fabricate a prototype of the product. Then, an exterior skin mold is formed using the product prototype mounted on an alignment block. The method includes fabricating an inner support structure based on the base geometry model having an exterior geometry smaller than the 3D base geometry model by the thickness of the exterior skin. The inner support structure is positioned within the mold with the inner support structure mounted upon the alignment block, which is received in the mold. The product is formed by pouring material for an exterior skin layer into the mold and over the inner support structure.
摘要翻译：用于制造具有人造皮肤的诸如电动机字符的产品的方法。该方法包括提供定义产品的外表面几何形状的数据。产品的基本几何模型是基于外表面几何数据生成的，这些数据依次用于制造产品的原型。然后，使用安装在对准块上的产品原型形成外部皮肤模具。该方法包括基于具有小于3D基础几何模型的外部几何形状的基本几何模型来制造内部支撑结构以外部皮肤的厚度。内部支撑结构定位在模具内，内部支撑结构安装在对准块上，该对准块被容纳在模具中。该产品通过将用于外部皮肤层的材料倒入模具中并在内部支撑结构上而形成。

7. 发明申请

US20150091215A1 FABRICATING LIGHTWEIGHT SKIN SYSTEMS FOR LARGE SCALE ROBOTIC CHARACTERS 审中-公开
标题翻译：制造大规模机器人特征的轻质皮肤系统
公开(公告)号：US20150091215A1
公开(公告)日：2015-04-02
申请号：US14040901
申请日：2013-09-30
申请人： DANIEL REETZ , Philip John Jackson
发明人： DANIEL REETZ , Philip John Jackson
IPC分类号： B29C59/16 , B29C59/00
CPC分类号： B29C44/56 , B23K26/046 , B23K26/361 , B23K26/362 , B23K2103/42 , B23K2103/50 , B29C59/16
摘要： A method of fabricating a skin system or its elements using a laser cutter. The laser cutter is controlled to perform multiple passes to selectively cut away layers of material on a surface of a sheet of cellular foam materials. Each layer of material to be removed is defined by a cut or texture pattern. The laser cutter is operated to cut deeper with each layer of material removed by setting a different resolution for the laser cutter for each layer. For example, a laser cutter may be selectively controlled to operate within a resolution range, and each layer defined by the same or different cut pattern is cut using a different resolution. The method includes associating lower resolution settings for the first or outer layers to remove a first depth of material from the skin sheet's surface and associating higher and higher resolution settings for additional layers.
摘要翻译：使用激光切割机制造皮肤系统或其元件的方法。激光切割器被控制以执行多次通过以选择性地切割多孔泡沫材料片表面上的材料层。要去除的每层材料由切割或纹理图案定义。通过为每层激光切割机设置不同的分辨率，激光切割器被操作以通过去除每层材料来切割更深。例如，可以选择性地控制激光切割器在分辨率范围内操作，并且使用不同的分辨率来切割由相同或不同的切割图案限定的每个层。该方法包括将第一层或外层的较低分辨率设置相关联，以从皮肤表面的表面去除第一深度的材料，并将更高和更高分辨率设置与附加层相关联。

8. 发明授权

US08568642B2 Method of fabricating a robotics skin system having integral actuation points 有权
标题翻译：制造具有整体致动点的机器人皮肤系统的方法
公开(公告)号：US08568642B2
公开(公告)日：2013-10-29
申请号：US12970471
申请日：2010-12-16
申请人： Philip John Jackson , Bryan S. Tye
发明人： Philip John Jackson , Bryan S. Tye
IPC分类号： B29C39/10
CPC分类号： B29C39/10 , B33Y80/00 , Y10T428/24008
摘要： A method for fabricating an artificial skin system for use with a robotics assembly. The method includes providing a mold core with an exterior surface defining an inner surface of a skin system, with this surface including a plurality of mounting elements. The method includes attaching, to each of the mounting elements, an elastomeric actuation piece or point (EAP). The mold core is positioned within an exterior skin mold, and a cavity is formed between the exterior surface of the mold core and inner surfaces of the exterior skin mold that defines topography and dimensions of the skin system. The method includes filling the cavity with skin-forming material. Then, after the skin-forming material hardens to form the skin system, the method includes removing the skin system from the mold core including detaching the EAPs from the mounting elements, and the EAPs are integrally bonded within the skin system.
摘要翻译：一种用于制造用于机器人组件的人造皮肤系统的方法。该方法包括提供具有限定皮肤系统的内表面的外表面的模芯，该表面包括多个安装元件。该方法包括将每个安装元件附接到弹性体致动件或点（EAP）。模具芯位于外部皮肤模具内，并且在模具的外表面和外皮模具的内表面之间形成腔体，其限定皮肤系统的形貌和尺寸。该方法包括用空腔填充成皮材料。然后，在皮肤形成材料硬化以形成皮肤系统之后，该方法包括从模具芯中去除皮肤系统，包括从安装元件分离EAP，并且EAP整体地粘合在皮肤系统内。

9. 发明申请

US20090202854A1 SKIN SYSTEM WITH ELASTIC COMPONENTS HAVING DIFFERING HARDNESSES FOR USE WITH ROBOTICS 有权
标题翻译：具有弹性组件的皮肤系统，具有用于机器人的不同硬度
公开(公告)号：US20090202854A1
公开(公告)日：2009-08-13
申请号：US12029827
申请日：2008-02-12
申请人： Philip John Jackson , Bryan S. Tye
发明人： Philip John Jackson , Bryan S. Tye
IPC分类号： B32B1/00
CPC分类号： B29C39/025
摘要： An artificial skin system for use with a robotic assembly such as to provide an animated robot head with realistic skin movement. The skin system includes a receiving component for contacting the manipulator mechanism of the robotic assembly and also includes an exterior skin component that extends over the receiving component. An inner surface of the exterior skin component is integrally bonded to the receiving component such that the exterior skin component moves with the receiving component when a manipulator mechanism or robotics anchored to the receiving component moves or applies a force. The exterior skin component is formed of an elastic material with a second hardness that differs from a first hardness of elastic material of the receiving component, e.g., is less than the first hardness. The skin system includes a backing component bonded to the other components with a third hardness less than the first and second hardnesses.
摘要翻译：用于机器人组件的人造皮肤系统，例如提供具有逼真皮肤运动的动画机器人头部。皮肤系统包括用于接触机器人组件的操纵器机构的接收部件，并且还包括在接收部件上延伸的外部皮肤部件。外部皮肤部件的内表面一体地结合到接收部件，使得外部皮肤部件随着接收部件移动或者施加力而移动到接收部件。外部皮肤部件由具有与接收部件的弹性材料的第一硬度不同的第二硬度的弹性材料形成，例如小于第一硬度。皮肤系统包括以比第一和第二硬度小的第三硬度粘合到其它部件的背衬部件。

10. 发明授权

US08429806B2 Flexible seam joint for use in robotic skin 有权
标题翻译：用于机器人皮肤的柔性接缝
公开(公告)号：US08429806B2
公开(公告)日：2013-04-30
申请号：US12970641
申请日：2010-12-16
申请人： Bryan S. Tye , Philip John Jackson
发明人： Bryan S. Tye , Philip John Jackson
IPC分类号： B21B1/46 , B21B13/22 , B22D11/126 , B22D11/128 , B23P17/00 , B23P25/00 , B28B7/14 , B29C37/02
CPC分类号： B44F7/00 , B29C39/10 , B29C69/001 , Y10T29/4998 , Y10T403/7045 , Y10T428/192
摘要： A method for fabricating a product, such as an animatronic character, with artificial skin. The method includes providing a mold assembly with an exterior mold and a core. In the mold assembly, a cavity is formed between inner surfaces of the exterior mold and exterior surfaces of the core that defines the skin system. The mold assembly includes a seam-forming wall extending between the inner and exterior surfaces. The method includes inserting an elongate, tubular guide through holes in the seam-forming wall and pouring an elastomeric material into the mold to occupy the cavity between the exterior mold and the interior core. The method includes, after the material has hardened to form the skin system, cutting a seam in the skin system by cutting the material along the seam-forming wall. The tubular guide is separated into guide segments and a staggered joint is formed at the cut seam.
摘要翻译：用于制造具有人造皮肤的诸如电动机字符的产品的方法。该方法包括提供具有外部模具和芯部的模具组件。在模具组件中，在外模的内表面和限定皮肤系统的芯的外表面之间形成空腔。模具组件包括在内表面和外表面之间延伸的接缝形成壁。该方法包括将细长的管状引导件穿过缝隙形成壁中的孔并将弹性材料倒入模具中以占据外部模具和内部芯之间的空腔。该方法包括在材料硬化以形成皮肤系统之后，通过沿着缝隙形成壁切割材料来切割皮肤系统中的接缝。管状引导件分离成导向段，并且在切割缝处形成交错的接头。

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