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1. 发明授权

US06454624B1 Robotic toy with posable joints 有权
标题翻译：机器人玩具与可伸缩的关节
公开(公告)号：US06454624B1
公开(公告)日：2002-09-24
申请号：US09938924
申请日：2001-08-24
申请人： David G. Duff , Mark H. Yim , Samuel B. Homans , Kimon D. Roufas , John W. Suh
发明人： David G. Duff , Mark H. Yim , Samuel B. Homans , Kimon D. Roufas , John W. Suh
IPC分类号： A63H3304
CPC分类号： A63H33/042 , B25J9/08 , B25J9/1617 , B25J17/025 , Y10S414/128
摘要： An assemblage of robotic modules includes a plurality of robotic modules, with each robotic module having memory capability, an actuator, a joint position sensor, and communication means. The assemblage of robotic modules also includes a distributed control unit, which is defined at least in part by a plurality of individual central processing units, with each robotic joint module having at least one central processing unit.
摘要翻译：机器人模块的组合包括多个机器人模块，每个机器人模块具有存储器能力，致动器，关节位置传感器和通信装置。机器人模块的组合还包括分布式控制单元，其至少部分地由多个单独的中央处理单元定义，每个机器人接头模块具有至少一个中央处理单元。

2. 发明授权

US06605914B2 Robotic toy modular system 有权
标题翻译：机器人玩具模块化系统
公开(公告)号：US06605914B2
公开(公告)日：2003-08-12
申请号：US09939368
申请日：2001-08-24
申请人： Mark H. Yim , David G. Duff , Samuel B. Homans , Kimon D. Roufas , John W. Suh
发明人： Mark H. Yim , David G. Duff , Samuel B. Homans , Kimon D. Roufas , John W. Suh
IPC分类号： B25J918
CPC分类号： A63H33/042 , B25J9/08
摘要： A robotic module for a toy construction system includes a housing enclosing a gear mechanism and an actuator connected to a pivot mechanism to supply operational power for rotation. An energy storage device supplies power to the actuator, which rotates in response to instructions received from a control unit connected to the actuator. A connection plate forms a connection between at least two of the modules. At least one position sensor is provided to sense the arrangement of the modules connected together.
摘要翻译：用于玩具构造系统的机器人模块包括封闭齿轮机构的壳体和连接到枢转机构以提供用于旋转的操作功率的致动器。能量存储装置向致动器供电，其响应于从连接到致动器的控制单元接收的指令而旋转。连接板形成至少两个模块之间的连接。提供至少一个位置传感器来感测连接在一起的模块的布置。

3. 发明授权

US06575802B2 Robotic toy modular system with distributed program 有权
标题翻译：具有分布式程序的机器人玩具模块化系统
公开(公告)号：US06575802B2
公开(公告)日：2003-06-10
申请号：US09939186
申请日：2001-08-24
申请人： Mark H. Yim , Samuel B. Homans , David G. Duff , Kimon D. Roufas , John W. Suh
发明人： Mark H. Yim , Samuel B. Homans , David G. Duff , Kimon D. Roufas , John W. Suh
IPC分类号： A63H3304
CPC分类号： B25J9/1617 , A63H33/04
摘要： An assemblage of robotic modules for a toy construction system includes a plurality of robotic modules, each of which contains memory capability, an actuator, communication means, and a central processor unit. The assemblage also includes a distributed control unit, which is defined at least in part by a plurality of individual central processing units, with each individual robotic module having at least one central processing unit.
摘要翻译：用于玩具构建系统的机器人模块的组合包括多个机器人模块，每个机器人模块包含存储器能力，致动器，通信装置和中央处理器单元。组合还包括分布式控制单元，其至少部分地由多个单独的中央处理单元定义，每个单独的机器人模块具有至少一个中央处理单元。

4. 发明授权

US06842246B2 Six degree of freedom position ranging 失效
标题翻译：六自由度位置范围
公开(公告)号：US06842246B2
公开(公告)日：2005-01-11
申请号：US10016427
申请日：2001-12-10
申请人： Kimon D. Roufas , Ying Zhang , David G. Duff , Mark H. Yim , Craig Eldershaw
发明人： Kimon D. Roufas , Ying Zhang , David G. Duff , Mark H. Yim , Craig Eldershaw
IPC分类号： G01B11/00 , G01S5/16 , G06F19/00
CPC分类号： G01B11/00 , G01S5/163
摘要： An alignment system includes a first module having a plurality of emitters and a first receiver configuration located on the face of the first module. A second module has a second plurality of emitters and a second receiver configuration located on the face of the second module. First and second trigger signal generators fire the first and second plurality of the emitters. The generated signals are sensed by at least some of the receivers. A converter arrangement obtain and convert the received signals into digital data representative of the readings received by selected receivers. A processing system computes at least one of an absolute six degree offset or a relative six degree offset between the faces. The offset information is then used to achieve a desired alignment between the face of the first module and the face of the second module.
摘要翻译：对准系统包括具有多个发射器的第一模块和位于第一模块的表面上的第一接收器配置。第二模块具有位于第二模块的表面上的第二多个发射器和第二接收器配置。第一和第二触发信号发生器触发第一和第二多个发射器。产生的信号由至少一些接收器感测。 A转换器装置获得并将接收到的信号转换成代表所选接收机接收的读数的数字数据。处理系统计算面之间的绝对六度偏移或相对六度偏移中的至少一个。然后使用偏移信息来实现第一模块的面和第二模块的面之间的期望对准。

5. 发明授权

US07086502B2 Transport apparatus and method having conformable gripping capability 有权
标题翻译：运输装置和方法具有一致的夹紧能力
公开(公告)号：US07086502B2
公开(公告)日：2006-08-08
申请号：US10786797
申请日：2004-02-24
申请人： Mark H. Yim , Kimon D. Roufas , Craig Eldershaw
发明人： Mark H. Yim , Kimon D. Roufas , Craig Eldershaw
IPC分类号： A63B27/00 , E04G3/00
CPC分类号： A63B27/00
摘要： A transport apparatus for transporting materials or objects on substantially vertical structures for installation, deployment, inspection and repair purposes includes gripping mechanisms having a conformable gripping portion. The gripping mechanisms are separated by links, which are mutually attached to each other to permit angular rotation of the links relative to each other about a pivot point. A latching mechanism provides the capability for the gripping portion to be opened as well as secured for operation.
摘要翻译：用于在基本垂直的结构上运输材料或物体用于安装，展开，检查和修理目的的运输设备包括具有适形夹持部分的夹持机构。夹持机构通过链节分开，链节彼此相互连接，以允许连杆相对于枢轴点彼此角度旋转。闩锁机构提供了抓握部分被打开并且被固定用于操作的能力。

6. 发明授权

US07108260B2 Flexible director paper path module 有权
标题翻译：灵活导向纸路径模块
公开(公告)号：US07108260B2
公开(公告)日：2006-09-19
申请号：US10740705
申请日：2003-12-19
申请人： David K. Biegelsen , Lars-Erik Swartz , David G. Duff , Mark H. Yim
发明人： David K. Biegelsen , Lars-Erik Swartz , David G. Duff , Mark H. Yim
IPC分类号： B65H39/10
CPC分类号： B65H15/00 , B65H29/58 , B65H29/60 , B65H2301/3125 , B65H2301/4482 , B65H2402/10 , B65H2404/632 , B65H2404/693 , B65H2701/176
摘要： A flexible media transport system includes a director element having articulating tips that provide access to selected media paths. The director element(s) can be incorporated into a director module. Multiple director modules can then be combined into a highly flexible and reconfigurable media transport system. By implementing the joints between the articulating tips and the body of the director element such that a continuous surface is provided in the path of the flexible media, stubbing of the moving media can be avoided. The continuous-surface joint interface can be provided via flexible skins, monolithic articulating tip-director element structures, and preconfigured resilient plate structures, among others.
摘要翻译：灵活的媒体传输系统包括具有提供对所选择的媒体路径的访问的具有连接尖端的导向器元件。导向器元件可以并入导向器模块中。然后，多个导向器模块可以组合成高度灵活且可重新配置的媒体传输系统。通过实现铰接尖端和导向元件的主体之间的接合，使得在柔性介质的路径中设置连续的表面，可以避免移动介质的残留。连续表面接合界面可以通过柔性表皮，单片铰接尖端导向器元件结构以及预配置的弹性板结构等来提供。

7. 发明授权

US06603281B2 High mechanical advantage ratcheting apparatus 有权
标题翻译：高机械优势棘轮机
公开(公告)号：US06603281B2
公开(公告)日：2003-08-05
申请号：US09945004
申请日：2001-08-31
申请人： Mark H. Yim , David G. Duff
发明人： Mark H. Yim , David G. Duff
IPC分类号： G05B1101
CPC分类号： B25J9/1625 , B25J9/08 , B25J9/1617 , G05B2219/39128 , G05B2219/40281 , G05B2219/40333 , G05B2219/41342
摘要： A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity includes a plurality of modular joints and ratcheting means. Each one of the modular joints is capable of locking and unlocking to effect performance of a ratcheting motion as the ratcheting apparatus approaches a mechanical singularity. A plurality of links is connected to the modular joints in such a way as to permit movement of the links while under large external forces as the joint approaches a point of mechanical singularity. A control system directs movement of the modular joints and links.
摘要翻译：具有刚性地附接以用于在机械奇点附近操作的机器人模块的可控棘轮装置包括多个模块化接头和棘轮装置。当棘轮装置接近机械奇点时，每个模块化关节能够锁定和解锁以实现棘轮运动的执行。多个连杆以这样的方式连接到模块化接头，以便当接头接近机械奇异点时允许链条在大的外力作用下移动。控制系统引导模块化接头和连杆的移动。

8. 发明授权

US06424333B1 Tactile feedback man-machine interface device 有权
标题翻译：触觉反馈人机界面设备
公开(公告)号：US06424333B1
公开(公告)日：2002-07-23
申请号：US09838052
申请日：2001-04-18
申请人： Mark R. Tremblay , Mark H. Yim
发明人： Mark R. Tremblay , Mark H. Yim
IPC分类号： G09G500
CPC分类号： G06F3/016 , G06F3/011 , G06F3/014 , G06F3/0484 , G10H1/34 , G10H2220/321 , G10L15/22 , G10L2015/225
摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
摘要翻译：公开了一种向各种感测体部件提供触觉反馈的人机界面。该装置采用一个或多个振动触觉单元，其中每个单元包括质量块和质量移动致动器。当质量由质量移动致动器加速时，整个振动触觉单元振动。因此，振动触觉单元将振动刺激传递到其所固定的感测体部分。振动触觉单元可以与测量测量的身体部分的空间放置的空间放置感测装置结合使用。计算装置使用所测量的身体部位的空间放置来确定由振动触觉单元提供的期望的振动刺激。以这种方式，计算装置可以响应于所测量的身体部分的运动来控制由对应的感测体部分感知的振动反馈的水平。感测体部分和测量的身体部分可以是分开的或相同的身体部分。

9. 发明授权

US06422509B1 Tracking device 有权
标题翻译：跟踪装置
公开(公告)号：US06422509B1
公开(公告)日：2002-07-23
申请号：US09722627
申请日：2000-11-28
申请人： Mark H. Yim
发明人： Mark H. Yim
IPC分类号： F41G700
CPC分类号： B64C27/10 , B64C13/16 , B64C39/028 , B64C2201/027 , B64C2201/042 , B64C2201/108 , B64C2201/121 , B64C2201/127 , B64C2201/145 , B64C2201/146 , Y02T50/44
摘要： A tracking device includes a motor, top and bottom propellers of opposite sense attached to the stator and rotor of the motor for rotation in opposite directions. Target sensors are provided on the propellers and signals from the target sensors are supplied to a controller that controls the rotation of the motor and the propellers. The tracking device also includes a power supply for the motor and the controller.
摘要翻译：跟踪装置包括具有相反方向的马达，顶部和底部螺旋桨，其附接到马达的定子和转子，以沿相反方向旋转。在螺旋桨上提供目标传感器，并且将来自目标传感器的信号提供给控制电机和螺旋桨旋转的控制器。跟踪装置还包括用于电动机和控制器的电源。

10. 发明授权

US06243622B1 Touchable user interface using self movable robotic modules 有权
标题翻译：可触摸的用户界面使用自移动机器人模块
公开(公告)号：US06243622B1
公开(公告)日：2001-06-05
申请号：US09174069
申请日：1998-10-16
申请人： Mark H. Yim , John O. Lamping , Eric W. Mao
发明人： Mark H. Yim , John O. Lamping , Eric W. Mao
IPC分类号： G06F1900
CPC分类号： G06F3/016
摘要： A touchable user interface including multiple robotic modules that can “walk” over each other to allow reconfiguration of the interface. Each module preferably includes motive devices as well as connective devices communication between the modules and a control unit that send commands to the interface, thereby enabling its reconfiguration. Depending on the needs of the user/builder, the interface can be an input interface, or both. The interface can also act as robotic appendage/manipulator capable of engaging and manipulating a wide variety of objects and/or substances by engulfing such objects and/or substances in “pseudopods” and structural voids which the modules are moved by instructions from the control unit.
摘要翻译：可触摸的用户界面，包括可以“彼此行进”的多个机器人模块，以允许重新配置接口。每个模块优选地包括动力装置以及模块之间的连接装置通信以及向接口发送命令的控制单元，从而实现其重新配置。根据用户/构建器的需要，接口可以是输入接口，也可以是两者。该接口还可以充当能够通过吞没“伪足”中的这些物体和/或物质的结构空隙来接合和操纵各种物体和/或物质的机器人附属/操纵器，这些模块通过来自控制单元的指令移动。

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