( 1 2 ) United S ta tes Pa tent

S choenfeld et a 1 .
US 008534983B2
US 8, 534, 983 B2
S ep . 1 7 , 2 01 3
( 1 0) Pa tent N 0. :
( 45) Da te of Pa tent:
( 54)
( 7 5)
( 7 3)
( * )
( 2 1 )
( 2 2 )
( 6 5)
( 6 0)
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( 58)
DOORBREACHIN G ROBOTIC
MAN IPULATOR
Inv entor s : Er ik Emer s on Reid S choenfeld,
Ma lden, MA ( US ) ; La wr ence
Pa r r ing ton, Rex for d, N Y ( U S ) ; S tep ha n
Von Mu ehlen, Br ookly n, N Y ( US ) ; S eth
F r a der - Thomp s on, Br ookly n, N Y ( US )
As s ig nees : iRob ot Cor p or a tion, Bedfor d, MA
( US ) ; Honey b ee Rob otics Ltd. , N eW
Yor k, N Y ( US )
N otice: S u b j ect to a ny dis cla imer , the ter m of this
p a tent is ex tended or a dj u s ted u nder 35
U. S . C. 1 54( b ) b y 2 92 da y s .
Ap p l. N o. : 1 2 / 406 , 1 00
F iled: Ma r . 1 7 , 2 009
Pr ior Pu b lica tion Da ta
US 2 009/ 031 7 2 2 3 A1 Dec. 2 4, 2 009
Rela ted US . Ap p lica tion Da ta
Pr ov is iona l a p p lica tion N o. 6 1 / 036 , 989, ? led on Ma r .
1 7 , 2 008.
Int. Cl.
E02 F 3/ 00 ( 2 006 . 01 )
E02 F 3/ 41 3 ( 2 006 . 01 )
US . Cl.
CPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E02 F 3/ 41 35 ( 2 01 3. 01 )
US PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4/ 7 39
F ield of Cla s s i? ca tion S ea r ch
US PC . . . . . . . . . . . . . . . . . . . . . 41 4/ 6 80, 7 2 9, 7 39, 800; 901 / 1 ,
901 / 1 5, 31 ; 2 94/ 1 06
S ee a p p lica tion ? le for comp lete s ea r ch his tor y .
F IN GER
GRIPPIN G
S URF ACE
RUBBER
BLOCK S
GRIPPIN G
S URF ACE
GRIPPER
( 56 ) Refer ences Cited
U. S . PATEN T DOCUMEN TS
3, 41 4, 1 37 A * 1 2 / 1 96 8 F or tin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4/ 7
5, 443, 354 A * 8/ 1 995 S tone et a l. 41 4/ 7 2 9
6 , 57 8, 893 B2 * 6 / 2 003 S ou cy et a l. . . . . . . 2 94/ 99. 1
7 , 1 2 5, 059 B2 * 1 0/ 2 006 Miy a moto . . . . . . . . . . . . 2 94/ 1 06
7 , 6 45, 1 1 0 B2 * 1 / 2 01 0 Og a Wa et a l. . . . . . . 41 4/ 547
7 , 7 89, 443 B2 * 9/ 2 01 0 Gilles p ie et a 1 . . . . . . . . 2 94/ 1 06
2 009/ 032 06 37 A1 * 1 2 / 2 009 Doy le et a 1 . . . . . . . . 7 4/ 490. 03
2 01 0/ 02 1 7 436 A1 * 8/ 2 01 0 Jones et a l. . . . . . . . . . . . . . . . 7 00/ 2 45
2 01 0/ 02 43344 A1 * 9/ 2 01 0 Wy r ob ek et a l. . . . . . . . . . . . . . . . . 1 80/ 2 1
OTHERPUBLICATION S
Comb ined Ar ms Op er a tions in Ur b a n Ter r a in, [ Web s ite p a g e
online] . US . Ar my F ield Ma nu a l F M 3- 06 . l 1 , Cha p ter 3, [ r etr iev ed
on Au g . 5, 2 009] . Retr iev ed fr om the Inter net: <URL: http : / / WWW.
g lob a ls ecu r ity . or g / milita r y / lib r a r y / p olicy / a r my / fm/ 3 - 06 - 1 l/ ch3.
htm>.
Bib b y , J. , N eces s a r y , R. , Rob ona u t [ Web s ite p a g e online] . [ r etr iev ed
on Au g . 5, 2 009] . Retr iev ed fr om the Inter net: <URL: http : / /
r ob ona u tj s c. na s a . g ov >.
( Continu ed)
Pr ima r y Ex a miner * S a u l Rodr ig u ez
As s is ta nt Ex a miner * Br enda n Tig he
( 7 4) Attor ney , Ag ent, or F ir m * My er s Big el S ib ley &
S a j ov ec, PA
( 57 ) ABS TRACT
A door b r ea ching r ob otic ma nip u la tor comp r is es : tWo ? n
g er s , ea ch ? ng er comp r is ing a g r ip p er s u r fa ce a t a dis ta l end
ther eof, the g r ip p er s u r fa ces b eing s p a ced fr om ea ch other b y
a p r edeter mined dis ta nce; a ca b le con? g u r ed to b e a ctu a ted to
dr iv e the g r ip p er s u r fa ces toWa r d ea ch other ; a nd a s electiv ely
comp lia nt Wr is t comp r is ing a U- j oint a nd a ma g netic cou
p ling ha v ing a p r edeter mined ma g netic for ce s tr eng th. The
ma g netic cou p ling comp r is es a meta l memb er a nd a ma g netic
element a ttr a cted ther eto. When a for ce ov er comes the p r e
deter mined ma g netic for ce s tr eng th of the s electiv ely com
p lia nt Wr is t, the Wr is t b ecomes comp lia nt.
9 Cla ims , 4 Dr a wing S heets
CON N ECTION
RES TORIN G WRIS T TOPACK BOT
S PRIN G
S TEPPED
MAGN ETIC U- JOIN T MEMBER
COUPL' N G F IRS T PORTION
OF S TEPPED
MEMBER
US 8, 534, 983 B2
Pa g e 2
( 56 ) Refer ences Cited
OTHERPUBLICATION S
Br u emmer , D. J. , F ew, D. A. , K a p oor , C. , GoZ a , M. , Dy na mic
Au tonomy for Mob ile Ma nip u la tion, In Pr oc. Of the AN S / IEEE1 1
Annu a l Confer ence on Rob otics a nd Remote S y s tems for Ha za r dou s
Env ir onments , S a lt La ke City , UT, F eb . 1 2 - 1 5, 2 006 .
Rhee, C. , Chu ng , W. , K im, M. , S him, Y. , Lee, H. , Door op ening
contr ol u s ing the mu lti- ? ng er ed r ob otic ha nd for the indoor s er v ice
r ob ot, Rob otics a nd Au toma tion, 2 004. Pr oceeding s . ICRA ' 04.
2 004 IEEE Inter na tiona l Confer ence, p p . 401 1 - 401 6 , v ol. 4, Ap r .
2 6 - Ma y 1 , 2 004.
Andr eop ou los , A. , Ts ots os , J. K . , A F r a mewor k for Door Loca liza
tion a nd Door Op ening Us ing a Rob otic Wheelcha ir for Peop le
Liv ing with Mob ility Imp a ir ments , RS S 2 007 Ma nip u la tion Wor k
s hop . S ens ing a ndAda p ting to theRea l Wor ld, Atla nta , Ju n. 30, 2 007 .
Mu r r a y , S ea n et a l. , Continu ed Res ea r ch in EVA, N a v ig a tion, N et
wor king a nd Commu nica tions S y s tems , S AEPr oceeding s , Inter na
tiona l Confer ence on Env ir onmenta l S y s tems , Ju n. 2 008.
Ya ma u chi, Br ia n. All- Wea ther Per cep tion for S ma ll Au tonomou s
UGVs . In Pr oceeding s of S PIE Defens e a nd S ecu r ity Confer ence,
Or la ndo, F L, Ma r . 2 008.
Lens er , S cott et a l. , Pr a ctica l p r ob lems in s liding s ca le a u tonomy : A
ca s e s tu dy . In Pr oceeding s of S PIE Defens e a nd S ecu r ity Confer
ence, Or la ndo, F L, Ma r . 2 008.
Cheu ng , Ca r ol et a l. , UAV- UGV Colla b or a tion with a Pa ckBot UGV
a nd Ra v en S UAV for Pu r s u it a nd Tr a cking of a Dy na mic Ta r g et . In
Pr oceeding s of S PIEDefens e a nd S ecu r ity Confer ence, Or la ndo, F L,
Ma r . 2 008.
S choenfeld, Er ik et a l. , Door Br ea ching Rob otic Ma nip u la tor . In
Pr oceeding s of S PIEDefens e a nd S ecu r ity Confer ence, Or la ndo, F L,
Ma r . 2 008.
Ya ma u chi, Br ia n. Da r edev il: Ultr a Wideb a nd Ra da r S ens ing for
S ma ll UGVs , In Pr oceeding s of S PIE: Unma nned S y s tems Tech
nolog y IX , Or la ndo, F L, Ap r . 2 007 .
Ru da kev y ch, Pa v lo et a l. , Integ r a tion of the F ido Ex p los iv es Detec
tor onto the Pa ckBot EOD UGV , In Pr oceeding s of S PIEv ol. 6 56 1 ,
Ma r . 2 007 .
Ru da kev y ch, Pa v lo et a l. , A ma n p or ta b le hy b r id UAV/ UGV s y s
tem , In Pr oceeding s of S PIE v ol. 6 56 1 , Ma r . 2 007 .
Jones , Chr is et a l. , S entinel: An Op er a tor Inter fa ce for the Contr ol of
Mu ltip le S emi- Au tonomou s UGVs , In Pr oceeding s of the As s ocia
tion for Unma nned Vehicles S y s tems Inter na tiona l. Or la ndo, F L,
Au g . 2 006 .
Ya ma u chi, Br ia n. Au tonomou s Ur b a n Reconna is s a nce Us ing Ma n
Por ta b le UGVs , In Pr oceeding s of S PIE: Unma nned Gr ou nd
Vehicle Technolog y VIII, Or la ndo, F L, Ap r . 2 006 .
Ya ma u chi, Br ia n. Wa y fa r er : An Au tonomou s N a v ig a tion Pa y loa d
for the Pa ckBot , In Pr oceeding s of AUVS I Unma nned Vehicles
N or th Amer ica 2 005, Ba ltimor e, MD, Ju n. 2 005.
Ba r nes , Mitch et a l. , Thr owBot: Des ig n Cons ider a tions for a Ma n
Por ta b le Thr owa b le Rob ot , In Pr oceeding s of S PIE v ol. 5804, Ma r .
2 005.
Ru da kev y ch, Pa v lo et a l. , Pa ckBot EOD F ir ing S y s tem , In Pr o
ceeding s of S PIE v ol. 5804, Ma r . 2 005.
Ya ma u chi, Br ia n. The Wa y fa r er Modu la r N a v ig a tion Pa y loa d for
Intellig ent Rob ot Infr a s tr u ctu r e , In Pr oceeding s of S PIE v ol. 5804:
Unma nned Gr ou nd Technolog y VII, Or la ndo, F L, Ma r . 2 005.
Ya ma u chi, Br ia n et a 1 . , Gr iffon: a ma n- p or ta b le hy b r id UGV/ UAV ,
In Indu s tr ia l Rob ot: An Inter na tiona l Jou r na l, v ol. 31 N o. 5, 2 004.
Ya ma u chi, Br ia n. Pa ckBot: AVer s a tile Pla tfor m for Milita r y Rob ot
ics , In Pr oceeding s of S PIE v ol. 542 2 : Unma nned Gr ou nd Vehicle
Technolog y VI, Or la ndo, F L, Ap r . 2 004.
S wor d, Lee et a l. , Mob ility Enha ncements for Ba llis tica lly
Dep loy ed S ens or s , In Pr oceeding s of S PIE v ol. 4393, Ap r . 2 001 .
Ru da kev y ch, Pa v lo. Wa v e Contr ol: A Method of Dis tr ib u ted Con
tr ol for Rep ea ted Unit Tenta cles , In Pr oceeding s of S PIE v ol. 3839,
Au g . 1 999.
Ru da kev y ch, Pa v lo et a l. , Micr o Una ttended Mob ility S y s tem
( MUMS ) , In Pr oceeding s of S PIE v ol. 37 1 3, Ju l. 1 998.
* cited b y ex a miner
US . Pa tent S ep . 1 7 , 2 01 3 S heet 1 of4 US 8, 534, 983 B2
F IN GER
CON N ECTION
o RES S PTRQ EICQ IG WRIS T TOPACK BOT
GRlPPlN G \
S URF ACE
RUBBER @
BLOCK S
@
GRIPPIN G
S URF ACE
F lN GER
US . Pa tent S ep . 1 7 , 2 01 3 S heet 3 of4 US 8, 534, 983 B2
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US 8, 534, 983 B2
1
DOORBREACHIN G ROBOTIC
MAN IPULATOR
This a p p lica tion cla ims p r ior ity to US . Pr ov is iona l Pa tent
Ap p lica tion N o. 6 1 / 036 , 989, ? led Ma r . 1 7 , 2 008, the entir e
content of Which is incor p or a ted her ein b y r efer ence.
IN TRODUCTION
The p r es ent tea ching s r ela te to a door b r ea ching ma nip u
la tor , p a r ticu la r ly for u s e With a r emote v ehicle s u ch a s a n
u nma nned g r ou nd v ehicle.
BACK GROUN D
As u nma nned s y s tems s u ch a s r emote v ehicles b ecome
mor e commonp la ce in milita r y , p olice, a nd other s ecu r ity
for ces , they a r e ta s ked to p er for m mis s ions for Which the
or ig ina l ha r dWa r e Wa s not des ig ned. Ma ny ex is ting r emote
v ehicles a r e b u ilt for r ou g h ou tdoor conditions a nd ha v e
s tr ong in? ex ib le ma nip u la tor s des ig ned to ha ndle a Wide
r a ng e of op er a tions . Thes e ma nip u la tor s ma y not b e Well
s u ited for s ome es s entia l indoor ta s ks , inclu ding op ening
door s . Door op ening is a comp lica ted kinema tic ta s k tha t ca n
cha lleng e the r emote v ehicle a nd its op er a tor .
When a hu ma n a p p r oa ches a door they folloW a s u b con
s ciou s r ou tine dev elop ed thou g h y ea r s of p r a ctice. The hu ma n
s p ots the door a nd the la tch mecha nis m a nd a dj u s ts their g a te
to ens u r e tha t When they r ea ch the door they Will b e lea ding
With the p r op er foot. As they r ea ch for the door knob or lev er ,
their ha nd a s s u mes a g r a p p le p os e cor r ectly or iented to ma te
With the mecha nis m. Ju s t b efor e conta ct the ha nd s loWs its
a p p r oa ch a nd clos es on the knob or lev er . Once the ha nd
clos es on the knob or lev er , the Wr is t tWis ts a nd the door is
p u s hed op en. The hu ma n a r m s comp lia nce a lloWs the p er s on
to imp a r t the for ce r eq u ir ed to op en the door Withou t kine
ma tica lly linking the b ody to the door . As a r es u lt, the p er s on
Wa lks thou g h on their p a th of choice While the door s Wing s in
a n a r c.
S UMMARY
The p r es ent tea ching s p r ov ide a door b r ea ching r ob otic
ma nip u la tor comp r is ing : tWo ? ng er s , ea ch ? ng er comp r is ing
a g r ip p er s u r fa ce a t a dis ta l end ther eof, the g r ip p er s u r fa ces
b eing s p a ced fr om ea ch other b y a p r edeter mined dis ta nce; a
ca b le con? g u r ed to b e a ctu a ted to dr iv e the g r ip p er s u r fa ces
toWa r d ea ch other ; a nd a s electiv ely comp lia nt Wr is t comp r is
ing a U- j oint a nd a ma g netic cou p ling ha v ing a p r edeter mined
ma g netic for ce s tr eng th. The ma g netic cou p ling comp r is es a
meta l memb er a nd a ma g netic element a ttr a cted ther eto.
When a for ce ov er comes the p r edeter mined ma g netic for ce
s tr eng th of the s electiv ely comp lia nt Wr is t, the Wr is t b ecomes
comp lia nt.
The p r es ent tea ching s a ls o p r ov ide a r ob otic door b r ea ch
ing s y s tem comp r is ing : a r ob ot ha v ing a n a r m, a linea r a ctu a
tor , a nd a r ota ting a ctu a tor ; a nd a door b r ea ching r ob otic
ma nip u la tor a tta ched to a dis ta l end of the r ob ot a r m a nd
con? g u r ed to b e r ota ted b y the r ota ting a ctu a tor . The door
b r ea ching r ob otic ma nip u la tor comp r is es a ? r s t ? ng er ha v ing
a g r ip p er s u r fa ce a t a dis ta l end ther eof, a s econd ? ng er ha v ing
a g r ip p er s u r fa ce a t a dis ta l end ther eof, a ca b le con? g u r ed to
b e a tta ched to the linea r a ctu a tor a nd a ctu a ted to dr iv e the
g r ip p er s u r fa ces toWa r d ea ch other , a nd a s electiv ely comp li
a nt Wr is t comp r is ing a U- j oint a nd a ma g netic cou p ling ha v
ing a p r edeter mined ma g netic for ce s tr eng th. The door
2 0
2 5
30
35
40
45
50
55
6 0
6 5
2
b r ea ching r ob otic ma nip u la tor is con? g u r ed to b e a ctu a ted b y
the linea r a nd r ota ting a ctu a tor s to g r ip a nd r ota te a door knob
or lev er .
The p r es ent tea ching s fu r ther p r ov ide a method for b r ea ch
ing a door With a g r ip p ing ma nip u la tor a tta ched to a n a r m of
a r emote v ehicle, the method comp r is ing : g r ip p ing a knob or
lev er of the door With the ma nip u la tor ; r ota ting the ma nip u
la tor to tu r n the knob or lev er ; a nd p r ov iding comp lia nce a t a
Wr is t of the ma nip u la tor s o tha t the r emote v ehicle ca n ma in
ta in a g r ip on the knob or lev er While dr iv ing in a s tr a ig ht line
to p u s h or p u ll the door to a n op en p os ition.
Additiona l ob j ects a nd a dv a nta g es of the p r es ent tea ching s
Will b e s et for th in p a r t in the des cr ip tion Which folloWs , a nd
in p a r t Will b e ob v iou s fr om the des cr ip tion, or ma y b e lea r ned
b y p r a ctice of the p r es ent tea ching s . The ob j ects a nd a dv a n
ta g es of the inv ention Will b e r ea liZ ed a nd a tta ined b y mea ns
of the elements a nd comb ina tions p a r ticu la r ly p ointed ou t in
the a p p ended cla ims .
It is to b e u nder s tood tha t b oth the for eg oing g ener a l
des cr ip tion a nd the folloWing deta iled des cr ip tion a r e ex em
p la r y a nd ex p la na tor y only a nd a r e not r es tr ictiv e of the
p r es ent tea ching s or the cla ims .
The a ccomp a ny ing dr a Wing s , Which a r e incor p or a ted in
a nd cons titu te a p a r t of this s p eci? ca tion, illu s tr a te ex emp la r y
emb odiments of the p r es ent tea ching s .
BRIEF DES CRIPTION OF THE DRAWIN GS
F IG. 1 illu s tr a tes a n emb odiment of a door b r ea ching
r ob otic ma nip u la tor in a ccor da nce With the p r es ent tea ching s .
F IG. 2 is illu s tr a tes a nother emb odiment of a door b r ea ch
ing r ob otic ma nip u la tor in a ccor da nce With the p r es ent tea ch
1 ng s .
F IGS . 3A- 3C illu s tr a te a n ex emp la r y emb odiment of a
door b r ea ching r ob otic ma nip u la tor holding a door knob
While the r ob ot dr iv es for Wa r d to op en the door .
F IGS . 4A- 4C illu s tr a te a n ex emp la r y emb odiment of a
door b r ea ching r ob otic ma nip u la tor holding a door knob
While the r ob ot dr iv es b a ckWa r d to op en the door .
DES CRIPTION
Refer ence Will noW b e ma de in deta il to ex emp la r y
emb odiments of the p r es ent tea ching s , ex a mp les of Which a r e
illu s tr a ted in the a ccomp a ny ing dr a Wing s . Wher ev er p os
s ib le, the s a me r efer ence nu mb er s Will b e u s ed thr ou g hou t the
dr a Wing s to r efer to the s a me or like p a r ts .
In a ccor da nce With cer ta in emb odiments , the p r es ent
tea ching s comp r is e a modu la r door - b r ea ching ma nip u la tor
tha t s imp li? es the dema nds u p on op er a tor a nd a r emote
v ehicle. The folloWing des cr ip tion r efer s to a r ob ot, b u t the
p r es ent tea ching s a p p ly to door b r ea ching With a v a r iety of
r emote v ehicles . Ty p ica lly , a ma nip u la tor or g r ip p er in a ccor
da nce With the p r es ent tea ching s ca n a tta ch to a n ex is ting
r ob otic a r m, for ex a mp le a ma nip u la tor a r m of a n iRob ot
Pa ckBot EOD. The g r ip p er ca n b e op timiZ ed for g r a s p ing a
v a r iety of door knob s , lev er s , a nd/ or ca r - door ha ndles , a nd
ca n Wor k With a comp lia nt Wr is t a nd ma g netic lock- ou t
mecha nis m tha t a lloW the Wr is t to r ema in r ig id u ntil the
g r ip p er ha s a ? r m g r a s p of the door ha ndle or lev er , a nd then
b end du r ing or a fter r ota tion of the door ha ndle or lev er , a s the
door s Wing s op en. Once the door is u nla tched, the op er a tor
dr iv es the r ob ot thr ou g h the door Wa y While the Wr is t com
p ens a tes for the comp lex , mu ltip le deg r ee- of- fr eedom motion
of the door . After the r ob ot ha s op ened the door a nd enter ed
the door Wa y , the op er a tor ca n r elea s e the door ha ndle or lev er ,
s o tha t the Wr is t ca n p op b a ck into p la ce.
US 8, 534, 983 B2
3
The Pa ckBot EOD is a v er s a tile, lig htweig ht, ea s ily
dep loy ed mob ile r ob ot or ig ina lly des ig ned for ex p los iv e or d
na nce dis p os a l a nd detection a nd defea t of imp r ov is ed ex p lo
s iv e dev ices . S u ch a r ob ot s y s tem ca n comp r is e a n iRob ot
Pa ckBot mob ility p la tfor m, a tWo- meter OmniRea ch EOD
a r m, a nd the Por ta b le Comma nd Cons ole ( PCC) for r ob ot
contr ol. The s y s tem ca n b e a ll- dig ita l, a lloWing for ea s y inte
g r a tion of neW p a y loa ds a nd ca p a b ilities . The Pa ckBot EOD
inclu des tWo a ctu a tor s a linea r a ctu a tor a nd a r ota ting a ctu a
tor . The Pa ckBot ca n a ls o inclu de a ca mer a , for ex a mp le a
for Wa r d- mou nted ca mer a tha t ca n b e mou nted to a g r ip p er
ca r tr idg e on a dis ta l end of the r ob ot a r m p r ox ima te the
g r ip p er . The ca mer a ca n p r ov ide a n op er a tor contr olling the
r ob ot With a v ieW of the door a nd its knob or lev er .
Door b r ea ching r ob ots ca n a lloW s oldier s to op er a te a t
g r ea ter s ta ndoff dis ta nces , b eca u s e r ob ots Will b e a b le to
b r ea ch a nd ins p ect s u s p ect b u ilding s Withou t p la cing a s oldier
in da ng er . In a ddition, door b r ea ching r ob ots ca n a s s is t civ il
ia n chemica l s p ill r es p ons e tea ms . Althou g h a g iv en chemica l
s p ill r es p ons e tea m indiv idu a l ma y only b e a b le to s p end a feW
minu tes on s ite b eca u s e they ov er hea t in their p r otectiv e s u its ,
a r ob ot ca p a b le of op ening door s a nd ca r r y ing a p p r op r ia te
s ens or s to the s p ill cou ld s p end s ev er a l hou r s ons ite While
s ending b a ck a cons ta nt s tr ea m of v ideo a nd s ens or da ta . This
Wou ld a lloW the tea m to s p eed their r es p ons e b y s ending in a
r ob ot for ins p ection While they a r e s etting u p the deconta mi
na tion eq u ip ment ou ts ide. F u r ther , door op ening is a n
ena b ling technolog y for elder ca r e r ob otics . The a b ility to
mov e fr om r oom to r oom to fetch items , r ender a s s is ta nce, or
s imp ly folloW a r ou nd its ma s ter is a centr a l p a r t of the j ob .
F IG. 1 illu s tr a tes a n ex emp la r y emb odiment of a door
b r ea ching r ob otic ma nip u la tor in a ccor da nce With the p r es ent
tea ching s . The illu s tr a ted ma nip u la tor or g r ip p er is ca n b e
u tiliZ ed a s a modu la r ex tens ion for a ma nip u la tor a r m, s u ch a s
tha t p r ov ided in a n iRob ot Pa ckBot EOD. The p r es ent tea ch
ing s contemp la te ea s y ? eld ins ta lla tion of the g r ip p er onto a n
ex is ting Pa ckBot EOD a r m, for ex a mp le u s ing a minimu m
nu mb er of tools in les s tha n a b ou t 1 0 minu tes .
In a ccor da nce With v a r iou s emb odiments of the p r es ent
tea ching s , tWo fea tu r es a lloW the g r ip p er to p r ov ide imp r ov ed
door knob or lev er ma nip u la tion. The ? r s t fea tu r e inclu des the
s ha p e, s u r fa ce, a nd s ta nce of the g r ip p er ? ng er s . The ? ng er s
of the g r ip p er r es t a nd mov e in a s ing le p la ne, the r ota tiona l
a x is of the g r ip p er Wr is t ly ing in tha t s a me p la ne, s o tha t
g r ip p ed ob j ects a r e a lig ned With the r ota tiona l a x is of the
Wr is t When they a r e a lig ned b etWeen the g r ip p er ? ng er s . In
contr a s t, the ? ng er s of the s ta nda r d Pa ckBot EOD g r ip p er do
not r es t a nd mov e in the s a me p la ne, a nd ther efor e ca u s e the
g r ip p er s r ota tiona l a x is to b e offs et fr om tha t of the ob j ect
b eing g r ip p ed.
To op en a door , a fter r ota ting the knob or lev er to u nla tch
the door , the r ob ot a r m is r eq u ir ed to tr a ns la te While the knob
or lev er is held in the r ota ted ( u nla tching ) p os ition. Pa r ticu
la r ly With lev er - ty p e door ha ndles , la ter a l motion of the r ob ot
a r m ca n b e r eq u ir ed in a ddition to r ota tion, Which ca n p u t
s tr es s on r ob ot a r m u nles s a cer ta in a mou nt of comp lia nce is
p r ov ided. Redu cing the a mou nt of tr a ns la tion, for ex a mp le b y
p r ov iding a comp lia nce mecha nis m Within the g r ip p er , ca n
r edu ce s tr es s on the r ob ot a r m a nd a t the g r ip p er / door knob
connection, ther eb y incr ea s ing door - op ening p er for ma nce. In
a ccor da nce With the v a r iou s emb odiments of the p r es ent
tea ching s , comp lia nce of the g r ip p er ca n b e a chiev ed b y a
comp lia nt Wr is t. S u ch a Wr is t is illu s tr a ted in F IG. 1 , a nd
inclu des a ma g netic cou p ling a nd a s tep p ed memb er to Which
the ma g nets a r e a ttr a cted b y a p r edeter mined ma g netic for ce.
The ma g netic cou p ling in the illu s tr a ted emb odiment
inclu des ma g netic memb er s held Within a p la s tic s leev e. The
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ma g net memb er s ex er t a ma g netic a ttr a ction for ce on a t lea s t
the ? r s t p or tion of a s tep p ed memb er . The s iZ e of the ? r s t
p or tion of the s tep p ed memb er a nd the s tr eng th of the ma g
nets ca n b e v a r ied to a chiev e des ir ed Wr is t comp lia nce for the
g r ip p er .
Within the Wr is t is a U- j oint tha t p r ev ents the Wr is t fr om
s lip p ing du r ing a p p lica tion of a t lea s t r ota tiona l for ces to the
knob or lev er . The U- j oint a lloWs the r ota tiona l for ce a p p lied
b y the r ota ting a ctu a tor to b e a p p lied to the door knob or lev er
b eing g r ip p ed a nd to b e u nla tched. S u ch r ota ting for ce ca n b e
a p p lied v ia a b a s e ( not s hoWn) connected to the r ota ting
a ctu a tor a nd Which ma tes With the door b r ea ching r ob otic
ma nip u la tor to tr a ns la te the r ota ting for ce ther eto. The
U- j oint p r ev ents r ota tiona l for ces fr om ca u s ing non- comp li
a nce a t the Wr is t, Which cou ld p r ev ent or les s en the r ota tion
for ces a p p lied to the knob or lev er to u nla tch the door .
The illu s tr a ted ex emp la r y ma nip u la tor / g r ip p er emb odi
ment a ls o comp r is es a r es tor ing s p r ing to b ia s the ma g netic
cou p ling to a p r op er p os ition r ela tiv e to the s tep p ed memb er .
In a ccor da nce With cer ta in emb odiments , When the g r ip p er is
not a tta ched to a ny thing , the r es tor ing s p r ing is j u s t s tr ong
enou g h to lift the g r ip p er ? ng er s ( a g a ins t g r a v ity ) , s tr a ig hten
the Wr is t, a nd a lloW the ma g nets to ( r e) eng a g e the s tep p ed
memb er . The r es tor ing for ce of the s p r ing ca n a lloW tr a ns fer
of a cer ta in a mou nt of off- a x is for ce, b u t s u ch tr a ns fer does no
inhib it door op ening fu nctiona lity for the illu s tr a ted g r ip p er .
In a ccor da nce With cer ta in emb odiments , the Weig ht a nd
leng th of the g r ip p er ? ng er s ca n b e op timiZ ed s o tha t the
r es tor ing for ce of the s p r ing ca n b e r edu ced a nd thu s tr a ns fer
of off- a x is for ces ca n b e minimized.
In the illu s tr a ted ex emp la r y emb odiment, the g r ip p er ? n
g er s ca n b e clos ed ( mov ed toWa r d ea ch other to g r ip a ta r g et)
b y a ctu a ting a ca b le tha t r u ns thr ou g h the g r ip p er . The ca b le is
p u lled b y the linea r a ctu a tor to clos e the g r ip p er ? ng er s . In the
illu s tr a ted emb odiment, the g r ip p ing s u r fa ce of ea ch g r ip p er
? ng er cons is ts of fou r b locks or p r otr u s ions of r u b b er . The
r u b b er ma y b e r ela tiv ely s oft to p r ov ide fr iction a nd a deg r ee
of defor ma tion When g r ip p ing a n ob j ect. In a ccor da nce With
the p r es ent tea ching s , the nu mb er , s ha p e, a nd s iZ e of the
r u b b er b locks ca n v a r y a nd ca n inclu de, for ex a mp le, one to
s ix b locks . In a ccor da nce With cer ta in emb odiments , the g r ip
p ing s u r fa ce ca n b e s q u a r e a nd the s iZ e of the g r ip p ing s u r fa ce
ca n b e, for ex a mp le, a b ou t fr om one ha lf inch to a b ou t one a nd
a ha lf inches s q u a r e. HoWev er , the g r ip p ing s u r fa ce ma y ha v e
a v a r iety of s ha p es a nd s iZ es .
The illu s tr a ted fou r - b lock s ha p e of the r u b b er p a ds in the
ex emp la r y emb odiment of F IG. 1 p r ov ides p er p endicu la r
r eces s es b etWeen the b locks tha t ca n imp r ov e the g r ip p er s
g r a s p on the a door knob or lev er , p a r ticu la r ly thr ou g h the
door - op ening p r oces s . This is b eca u s e a t lea s t one of the
r eces s es , When the g r ip p ing s u r fa ce is p r es s ed a g a ins t the
ob j ect b eing g r ip p ed, es s entia lly p inches or p r es s es the ob j ect
b etWeen the b locks a nd into the r eces s to hold the ob j ect
ther eb etWeen. The edg es of the b locks ca n a ls o a ct to tr a p the
ob j ect in the r eces s to a cer ta in deg r ee.
As ex p la ined a n illu s tr a ted b eloW in deta il, in or der for a
r ob ot to dr iv e in a s tr a ig ht line While p u s hing or p u lling a door
a nd g r a s p ing its knob or lev er , ther e mu s t b e a deg r ee of
comp lia nce in the Wr is t a nd s lip in the connection b etWeen the
g r ip p er a nd the knob or lev er . As the door s Wing s op en, the
a ng le b etWeen the g r ip p er a nd the knob or lev er neces s a r ily
cha ng es . The r eces s es b etWeen b locks of r u b b er in the illu s
tr a ted emb odiment a lloW the g r ip p er to r eta in a hold on the
knob or lev er While the g r ip p ing s u r fa ces s lip a nd the a ng le
b etWeen the g r ip p er a nd the knob or lev er cha ng es a s ma y b e
r eq u ir ed for the r ob ot to dr iv e in a s tr a ig ht line While holding
the knob or lev er a nd p u s hing or p u lling the door to op en the
US 8, 534, 983 B2
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door . With r ou nded door knob s , a ll fou r r u b b er b locks of the
illu s tr a ted g r ip p ing s u r fa ce ca n p r es s or p inch inwa r dly to
hold a p or tion of the knob s u r fa ce in the center of the g r ip p er
s u r fa ce ( Wher e the p er p endicu la r r eces s meet a nd ma inta in a
g r ip on the knob ev en du r ing s lip of the g r ip p er on the knob .
In v a r iou s emb odiments of the p r es ent tea ching s , the dis
ta nce b etWeen g r ip p er s u r fa ces ca n b e Wider tha n tha t of a
s ta nda r d Pa ckBot EOD g r ip p er . This incr ea s ed dis ta nce ca n
s imp lify a p p r oa ch of the r ob ot a nd g r ip p er to the knob or
lev er , incr ea s ing a n a lig nment toler a nce b etWeen g r ip p er a nd
a knob or lev er . F u r ther , once the door ha s b een op ened, the
incr ea s ed dis ta nce b etWeen the g r ip p ing s u r fa ces ca n r edu ce
the cha nce of the g r ip p er g etting enta ng led on the knob or
lev er .
The comp lia nce of the p r es ent tea ching s , Which ca n b e
emb odied in a s imp le Wr is t s tr u ctu r e s u ch a s tha t illu s tr a ted in
F IG. 1 , a lloWs for kinema tic s ep a r a tion of the r ob ot a r m fr om
the door a nd its knob or lev er . S u ch kinema tic s ep a r a tion ca n
thu s b e a chiev ed With a s imp le, lig ht- Weig ht, a nd loW- cos t
des ig n a s comp a r ed With ex is ting comp lex door b r ea ching
ma nip u la tor s cena r ios . This is b eca u s e comp lia nce in the
Wr is t ca n ob v ia te the need for comp lia nce els eWher e in the
g r ip p er or a r m, for ex a mp le in ? ng er p or tions . To p u s h or p u ll
door s While holding the door knob or lev er in a n u nla tched
p os ition, the r ob ot ca n s imp ly dr iv e for Wa r d or b a ckWa r d,
Withou t tr a ns la ting the a r m to ma tch or a ccommoda te r ota tion
of the door ha ndle a b ou t the door hing es . Gener a lly , the
fu r ther a door ha ndle is fr om the door hing e, the g r ea ter the
comp lia nce needed a lloW the r ob ot to dr iv e for Wa r d or b a ck
Wa r d to op en the door Withou t the r ob ot needing to tr a ns la ting
the a r m to ma tch or a ccommoda te r ota tion of the door ha ndle
a b ou t the door hing es .
When a g r ip p er emb odiment s u ch a s tha t illu s tr a ted in F IG.
1 is u tiliZ ed in a ccor da nce With the p r es ent tea ching s , the
r ob ot ca n s imp ly r ota te the g r ip p er Wr is t a b ou t its a x is of
r ota tion to a ctu a te a lev er - ty p e door knob , a nd ther efor e the
a r m does not need to tr a ns la te to a ccomp lis h doWnWa r d
mov ement of the lev er . One s killed in the a r t Will u nder s ta nd
tha t u nla tching lev er - ty p e door knob s r eq u ir es la ter a l a nd v er
tica l motion in a ddition to r ota tion, a nd tha t s u ch motion ca n
b e p r ov ided b y the g r ip p er ? ng er s of the illu s tr a ted g r ip p er
mov ing in a n a r cu a te p a th u p on r ota tion. Additiona lly , the
comp lia nt Wr is t ca n fa cilita tes p r op er u nla tching of a lev er
ty p e door knob b y a lloWing the g r ip p er s to a dj u s t their a ng le
r ela tiv e to the a r m, a nd ca n a ccommoda te mis a lig nment When
g r a b b ing the door ha ndle a nd the imp a ct of j er ky r ob ot
motion.
The idea l comp lia nt Wr is t Wou ld tr a ns fer only tor q u e a nd
a x ia l for ce ( p u s h/ p u ll) , b u t not off- a x is for ce. Idea lly this
comp lia nce cou ld b e s Witched on a nd off, a nd v a r ied to s ome
ex tent. F or ins ta nce, Z er o comp lia nce is b es t When p os ition
ing the g r ip p er or p er for ming other ta s ks u nr ela ted to door s .
Then, p a r tia l comp lia nce is b ene? cia l When clos ing the g r ip
p er s , When g r ip p er a lig nment ma y not b e p er fect. Once the
door knob is g r ip p ed, fu ll comp lia nce is des ir ed to a lloW
ma x imu m s ep a r a tion of the r ob ot a r m fr om the door .
A Wr is t p r ov iding comp lia nce for a g r ip p er in a ccor da nce
With the p r es ent tea ching s b y u tiliZ ing a ma g netic cou p ling
ca n a lloW the g r ip p er to tu r n the knob or lev er a nd op en the
door in the folloWing ma nner . The g r ip p er tr a ns fer s tor q u e
a nd a x ia l for ce v ia the U- j oint. One or mor e ma g netic ele
ments , s u ch a s for ex a mp le ma g netic ins er ts cov er ed b y or
conta ined in a p la s tic s leev e a s illu s tr a ted, ca n b e p r ov ided a t
a n end ( in the illu s tr a ted emb odiment, the end fa cing the
s tep p ed memb er ) . The ma g netic ins er ts ca n s u r r ou nd the
U- j oint a nd ca n b e ma g netica lly cou p led With a meta l mem
b er s u ch a s the ? r s t p or tion of the s tep p ed memb er to lock ou t
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the Wr is t comp lia nce When the a ng le of the g r ip p er does not
need to cha ng e r ela tiv e to the a r m du r ing door op ening .
If a nd When a p r edeter mined a mou nt of off- a x is for ce is
a p p lied to the g r ip p er ? ng er s , s u ch a s When the a ng le of the
g r ip p er mu s t cha ng e r ela tiv e to the a r m du r ing door op ening ,
the for ce ov er comes the s tr eng th of the ma g netic cou p ling
a nd the ma g netic cou p ling b r ea ks , a lloWing the s tep p ed mem
b er to p iv ot to a cer ta in deg r ee r ela tiv e to the ma g netic cou
p ling , thu s g iv ing the s y s tem the needed comp lia nce. At this
time, the u - j oint ca n b end to a ccommoda te the cha ng ed
g eometr y of the Wr is t.
In a ccor da nce With v a r iou s emb odiments , if a nd When
Wr is t comp lia nce is no long er needed du r ing door op ening ,
the r es tor ing s p r ing ca n lift the g r ip p er ? ng er s ( a g a ins t g r a v
ity ) , s tr a ig hten the Wr is t, a nd a lloW the ma g nets to r eeng a g e.
The r es tor ing for ce of the s p r ing ca n b e s elected to minimize
tr a ns fer of off- a x is for ces thr ou g h the g r ip p er . As s ta ted
a b ov e, the s iZ e of the ? r s t p or tion of the s tep p ed memb er ca n
b e s elected to a chiev e a des ir ed Wr is t comp lia nce for the
g r ip p er When comb ined With the ma g netic cou p ling . The
p or tion on the op p os ite end of the s tep p ed p or tion ca n b e s iZ ed
to a ccommoda te ma ting With the r ob ot a r m. On s killed in the
a r t Will a p p r ecia te tha t a v a r iety of con? g u r a tions ca n b e u s ed
in p la ce of the s tep p ed memb er , a nd tha t s u ch con? g u r a tions
ca n u tiliZ e v a r iou s s ha p es a nd s iZ es to p r ov ide s u ita b le ma g
netic inter a ction a nd ma ting With the r ob ot a r m.
To p r ov ide incr ea s ed r a ng e of motion for a door b r ea ching
r ob otic ma nip u la tor in a ccor da nce With the p r es ent tea ching s ,
a long er g r ip p er comp r is ing tWo U- j oints a nd tWo r es tor ing
s p r ing s ca n b e u tiliZ ed in a n emb odiment s u ch a s illu s tr a ted in
F IG. 2 . An a dditiona l U- j oint mig ht decr ea s e off- a x is for ce
tr a ns fer , b u t ca n incr ea s e the leng th a nd comp lex ity of the
door b r ea ching r ob otic ma nip u la tor . S u ch a g r ip p er ca n p r o
v ide incr ea s ed ? ex ib ility ( comp lia nce) to b e comb ined With
the comp lia nce a t the g r ip p er Wr is t, for ex a mp le for door s
ha v ing a g r ea ter dis ta nce b etWeen the hing es a nd the knob or
lev er , Withou t cons ider a b ly Wea kening for ce tr a ns la tion
thr ou g h the ma nip u la tor ( e. g . , linea r a nd r ota tiona l for ces ) .
A r ob ot ha v ing a door b r ea ching r ob otic ma nip u la tor in
a ccor da nce With the p r es ent tea ching s ca n b e contr olled b y a n
op er a tor u tiliZ ing op er a tor contr ol u nit ( OCU) con? g u r ed for
r ob ot tele- op er a tion a nd ev en initia tion a nd monitor ing of
cer ta in a u tonomou s a nd/ or s emi- a u tonomou s b eha v ior s , for
ex a mp le the OCU dis clos ed in Us . p a tent a p p lica tion S er .
N o. 1 1 / 7 48, 36 3, the entir e dis clos u r e of Which is incor p or a ted
her ein b y r efer ence.
Door Op ening Pr ocedu r e
F or a n op er a tor to op en a ty p ica l door With a r ob ot ha v ing
a door b r ea ching r ob otic ma nip u la tor in a ccor da nce With the
p r es ent tea ching s , the op er a tor dr iv es the r ob ot into v ieW of
the door a nd its knob or lev er . The op er a tor ca n u s e v ideo da ta
fr om a ca mer a mou nted to the r ob ot, for ex a mp le on the a r m
p r ox ima te the g r ip p er , to dr iv e the r ob ot into v ieW of the door
a nd its knob or lev er . When the r ob ot a nd its g r ip p er g et clos e
enou g h to the door a nd a r e p os itioned s o tha t the door ca n
s Wing op en Withou t ca tching on the r ob ot, the op er a tor ca n
p la ce the a r m in a p r op er p os e ( ex p la ined in mor e deta il
her einb eloW) , p r efer a b ly While the door b r ea ching r ob otic
ma nip u la tor is kep t hor iZ onta l. Thu s , the door b r ea ching
r ob otic ma nip u la tor is a lig ned v er tica lly a nd hor izonta lly
With the knob or lev er of the door to b e op ened. In cer ta in
emb odiments , p r op er v er tica l a nd hor iZ onta l a lig nment of the
door b r ea ching r ob otic ma nip u la tor enta ils a lig nment of the
knob s a x is of r ota tion With the r ota tiona l a x is of the door
b r ea ching r ob otic ma nip u la tor ( s o tha t the a x es a r e collinea r ) .
Once the knob s a x is of r ota tion is a lig ned With the r ota
tiona l a x is of the door b r ea ching r ob otic ma nip u la tor , the
US 8, 534, 983 B2
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op er a tor dr iv es the g r ip p er s u r fa ces for wa r d ( u s ing v ideo da ta
fr om the ca mer a ) s o tha t the g r ip p er s u r fa ces s u r r ou nd knob a t
a p p r op r ia te p os itions on either s ide of the knob . Ther ea fter ,
the linea r a ctu a tor ca n b e a ctu a ted to dr iv e the g r ip p er s u r
fa ces toWa r d one a nother a nd the knob u ntil the g r ip p er s u r
fa ces a r e g r ip p ing the knob . Once the g r ip p er s u r fa ces a r e
g r ip p ing the knob , the r ota ting a ctu a tor ca n b e a ctu a ted to tu r n
the door b r ea ching r ob otic ma nip u la tor a nd ther efor e the
knob to u nla tch door . The r ob ot ca n then mov e for Wa r d or
b a ckWa r d a ccor ding ly to op en the door . F IGS . 3A- 3C illu s
tr a te a n ex emp la r y emb odiment of a door b r ea ching r ob otic
ma nip u la tor holding a door knob While the r ob ot dr iv es for
Wa r d to op en the door . F IGS . 4A- 4C illu s tr a te a n ex emp la r y
emb odiment of a door b r ea ching r ob otic ma nip u la tor holding
a door knob While the r ob ot dr iv es b a ckWa r d to op en the door .
While the r ob ot is mov ing for Wa r d or b a ckWa r d to op en the
door , a s illu s tr a ted in the ex emp la r y emb odiments of F IGS .
3A- 3C a nd 4A- 4C, the g r ip p er s u r fa ces ma y s lide a b it on
knob ( a s s hoWn s p eci? ca lly in F IG. 3B for for Wa r d motion
a nd F IGS . 4B a nd 4Cfor b a ckWa r d motion. Additiona lly , a s
the r ob ot is mov ing for Wa r d or b a ckWa r d to op en the door ,
for ces Will ov er come the for ces locking the Wr is t s ma g netic
cou p ling s o tha t the Wr is t b ecomes comp la int ( s ee F IG. 3C
a nd F IGS . 4B a nd 4C) a s r ob ot dr iv es to s Wing door op en
While ma inta ining a g r ip on knob .
In cer ta in emb odiments of the p r es ent tea ching s , a click
to- g r ip b eha v ior ca n b e u tiliZ ed to a s s is t the op er a tor in ca u s
ing the door b r ea ching r ob otic ma nip u la tor to g r ip a knob or
lev er . A click- to- g r ip b eha v ior is dis clos ed in Us . p a tent
a p p lica tion S er . N o. 1 1 / 7 48, 36 3, the entir e dis clos u r e of
Which is incor p or a ted her ein b y r efer ence.
The p r es ent tea ching s fu r ther contemp la te tha t the linea r
a nd r ota ting a ctu a tor s ca n b e p oWer ed in a knoWn Wa y b y the
r ob ot s p oWer s ou r ce. In a ddition, the p r es ent tea ching s con
temp la te u s ing a dev ice, s u ch a s a n a ctu a tor , to s electiv ely
lock the Wr is t to p r ev ent comp lia nce tha t, a s des cr ib ed a b ov e,
ca n b e ca u s ed b y ov er coming the ma g netic cou p ling for ces of
the Wr is t.
Other emb odiments of the inv ention Will b e a p p a r ent to
thos e s killed in the a r t fr om cons ider a tion of the s p eci? ca tion
a nd p r a ctice of the inv ention dis clos ed her ein. It is intended
tha t the s p eci? ca tion a nd ex a mp les b e cons ider ed a s ex em
p la r y only , With a tr u e s cop e a nd s p ir it of the inv ention b eing
indica ted b y the folloWing cla ims .
Wha t is cla imed is :
1 . A door b r ea ching r ob otic ma nip u la tor con? g u r ed to b e
a tta ched to a ma nip u la tor a r m of a r ob ot, the door b r ea ching
r ob otic ma nip u la tor comp r is ing :
tWo ? ng er s , ea ch ? ng er comp r is ing a g r ip p er s u r fa ce a t a
dis ta l end ther eof, the g r ip p er s u r fa ces b eing s p a ced
fr om ea ch other b y a p r edeter mined dis ta nce a nd com
p r is ing r u b b er b locks ;
2 0
2 5
30
35
40
45
50
8
a s electiv ely comp lia nt Wr is t comp r is ing a ma g netic cou
p ling ha v ing a p r edeter mined ma g netic for ce, a nd a n
a dj a cent s tep p ed memb er ha v ing a ? r s t end to Which the
ma g netic cou p ling is a ttr a cted; a nd
a r es tor ing s p r ing in conta ct With the ma g netic cou p ling
a nd con? g u r ed to b ia s the ma g netic cou p ling toWa r d the
s tep p ed memb er ,
Wher ein, When a for ce a cting on the comp lia nt Wr is t does
not ov er the p r edeter mined ma g netic for ce s tr eng th of
the ma g netic cou p ling , the ma g netic cou p ling does not
s ep a r a te fr om the s tep p ed memb er a nd no comp lia nce is
cr ea ted in the Wr i s t,
Wher ein, When the for ce a cting on the comp lia nt Wr is t
ov er comes the p r edeter mined ma g netic for ce s tr eng th of
the ma g netic cou p ling , the ma g netic cou p ling s ep a r a tes
fr om the s tep p ed memb er , cr ea ting comp lia nce in the
Wr is t, a nd
Wher ein, When the for ce a cting on the comp lia nt Wr is t no
long er ov er comes the p r edeter mined ma g netic for ce
s tr eng th of the ma g netic cou p ling , the r es tor ing s p r ing
b ia s es the ma g netic cou p ling toWa r d the s tep p ed mem
b er to r emov e comp lia nce cr ea ted in the Wr is t b y s ep a
r a tion of the ma g netic cou p ling fr om the s tep p ed mem
b er .
2 . The door b r ea ching r ob otic ma nip u la tor of cla im 1 ,
Wher ein the tWo ? ng er s r es t a nd mov e in the s a me p la ne.
3. The door b r ea ching r ob otic ma nip u la tor of cla im 1 ,
Wher ein a t lea s t one of the g r ip p er s u r fa ces comp r is es fou r
b locks .
4. The door b r ea ching r ob otic ma nip u la tor of cla im 3,
Wher ein the b locks a r e s ep a r a ted b y p er p endicu la r r eces s es .
5. The door b r ea ching r ob otic ma nip u la tor of cla im 1 ,
Wher ein the p r edeter mined dis ta nce b etWeen the g r ip p er s u r
fa ces is g r ea ter tha n a dia meter of a knob to b e g r ip p ed b y the
door b r ea ching r ob otic ma nip u la tor .
6 . The door b r ea ching r ob otic ma nip u la tor of cla im 1 ,
Wher ein the s tep p ed memb er comp r is es a meta l memb er to
Which the ma g netic cou p ling is a ttr a cted.
7 . The door b r ea ching r ob otic ma nip u la tor of cla im 6 ,
Wher ein the s tep p ed memb er is con? g u r ed to ma te a t a s econd
end With the ma nip u la tor a r m of the r ob ot.
8. The door b r ea ching r ob otic ma nip u la tor of cla im 7 ,
Wher ein the s econd end of the s tep p ed memb er is op p os ite the
? r s t end.
9. The door b r ea ching r ob otic ma nip u la tor of cla im 6 ,
Wher ein the s tep p ed memb er is con? g u r ed to ma te With the
ma nip u la tor a r m of the r ob ot.
* * * * *