Patent Application
20220354731
The present invention generally relates to the field of robotics, and particularly to collaborative robots and medical robotics aimed to the therapeutic and comfort scope, as well as recreational robotics.
Caress and massage application techniques have been widely utilized for purposes of therapy and comfort. Such techniques, and their use in professional therapeutic fields require a level of understanding of human anatomy and physiology. Also, the use of such techniques requires knowledge of their indications and counterindications.
The synergies between robotic technologies and comfort techniques such as massage therapy, or “structured touch,” allow for the expansion of the use of these techniques to transform and have a positive impact on society, and to address the unmet needs and improve the quality of life of individuals. There is, therefore, an ongoing need to improve the delivery massage therapy to improve the lives of people and to develop more effective and efficient treatment delivery methods utilizing robotic technology.
An example of these technologies are collaborative robots, which consist of devices manufactured to physically interact with humans in a work or home environment, being able to share a space in order to facilitate tasks, improve communication, provide comfort and other tiresome, monotonous, or unpleasant tasks that may benefit the user in general. At present, given the dynamics of modern life, individuals are not always able to use the services of a professional specialized in comfort and massage therapies. Therefore, the need arises to resort to artificial solutions to fill the void left by the lack of human companion, doing the best possible to simulate human touch, and even improve upon it.
In this regard, real implementations in robotics have generated greater credibility in recent years due to improvements in computing power, and state-of-the-art sensors such as cameras or laser scanners that are able to distinguish between the characteristics of a scene that has already been observed and a new one that contains some new features. Thus, sensors collect data, so that robots can take advantage of them in relation to logical patterns.
Currently, there are no commercial robotic devices—in collaborative or medical field—that are being used to perform massages or caresses on the human skin. However, certain approaches have been proposed, but they involve bulky robotic arms with appendages that attempt to simulate a human hand that, at present, lack technical, much less commercial, feasibility.
For the reasons mentioned above, the present invention proposes a proper, technically feasible and economically efficient solution to meet the comfort and well-being needs that afflict a large part of society by adapting caress and massage techniques to the field of collaborative robotics.
The present invention is generally directed to an apparatus and method for applying massages and caresses to the skin of the user. More particularly, the design and implementation of a robotic device is provided. The apparatus contains a robotic arm composed of several links sequentially connected by joints. An effector is located at the free end of the last link to hold various accessories adapted to apply massages and caresses according to the needs and instructions of the user.
The general design of the robotic apparatus will determine the efficacy of the invention and thus a basic statement of the main features and design attributes is warranted.
In one embodiment of the invention, a robotic device to perform massages and caresses is provided, comprising a fixed lower section, or housing, which acts as a base, contains the lifting mechanisms of the robotic upper section and electronic components, and serves as a cover for the remaining structure; said movable upper section lifting mechanism is comprised of one or more lead screws on the sides of the fixed lower section passing through a set of linear bearings and connected to supports fixed on the floor of the upper movable section; It also has four rails on the corners that guide the movable upper section and prevent its involuntary descent; and, a movable upper section, called the mast, with a case that integrates the rest of the electromechanical components that make up the device; It is provided with side channels where the rail guides fit and also a cover
The apparatus also includes a Selective Compliant Articulated Robot Arm (SCARA) with a four degrees of freedom (DOF) range placed on the movable upper section and composed for at least three staggered parallel links and articulated at their ends by a power transmission mechanism made up of motors with belts placed on pulleys coupled to concentric hollow shafts.
More specifically, it comprises a power transmission mechanism that consists of stepper type electric motors on whose shafts belts are connected. At the same time, the belts are coupled to pulleys of different diameters to achieve the reduction rates necessary to obtain the desired torque output. The pulleys are embedded in concentric hollow shafts that allow the power to be transmitted to each link separately. The shafts and pulleys are embedded within a set of bearings to minimize axial and radial stresses. The whole mechanism is rigidly built in between the links by a set of nuts, bolts, and similar fasteners.
Furthermore, it comprises a sliding plate and a rotary base wherein the mast is tightly fixed and supported. The sliding plate comprises anti-friction linear bearings at the corners that aligns the lifting platform within the grooves of the rails that raises and lowers the movable upper section in the vertical axis or z-axis; such plate, in turn, has a rotary base and a pulley arrangement that allows it to rotate around its own axis. Moreover, it has rails that provide stiffness to the structure, prevent buckling and guide the platform in its up and down movement.
Also, in another embodiment of the invention, the movable upper section, or mast, is fully retracted within the fixed lower section, or housing. Conversely, in another embodiment of the invention, the movable upper section, or mast, is completely extended out of the fixed lower section, or housing. This ability to extract and retract allows the device to reduce its height by half, giving it great versatility and portability to be used in limited work spaces without causing discomfort to the user and staying in harmony with its environment.
In another embodiment of the invention, a deployable robotic arm type apparatus is provided, comprising a plurality of staggered parallel links connected sequentially at their ends, with freedom to rotate on the axis of a joint and capable of being automatically deployed from their fully stacked storage position by rotating over their joints until the working position.
In addition, an effector is incorporated at the free end of the last link with a standard coupling wherein several accessories are attached to transmit the massage or caress on the user's skin or other work surface assisted by a module of several optical distance sensors, infrared, laser mapping, among other sensors. Calibration sensors and position sensors are also contained at the articulated end of each link to know and control their movement.
On the other hand, in another embodiment of the invention, the angular movement of the links can be driven directly by a servomotor or by a direct current (DC) brushless motor with harmonic planetary gear reduction box, as well as by motors connected to one or more gears.
In addition, in another embodiment of the invention, in the last link of the deployable robotic arm some element of contact with the work surface can be installed, as well as using any type of position sensors or end-of-stroke sensors.
In another aspect of the invention, a method for the application of massages and caresses on the skin of the user is provided, comprising (a) a user interface, (b) a massage and caress preset patterns library, (c) an image sensor, (d) an image processor, (e) an image segmenter assisted by Artificial Intelligence (AI), visual classification algorithms or any other method that allows image segmentation, (f) an image segmentation process to recognize and isolate the user's back, or other area to massage or caress (g) an adaptation process of the previously selected pattern to the scale and contour of the segmented image, (h) other sensors to collect parameters from the user and the environment, (i) a data processor, (j) a trajectory creator that determines the coordinates that the deployable robotic arm must perform, (k) an inverse kinematics calculation of the trajectory, (l) a motor controller, (m) several motors that drive the deployable robotic arm and (n) motor encoders.
Also, given another representation of the invention, the image sensor can comprise any type of camera, a thermal image camera, a Laser Imaging Detection and Ranging (LIDAR) sensor or any other sensor capable of creating digital images. In addition, in another aspect of the invention, the measurement sensors can comprise any type of distance, proximity, pressure, temperature or magnetic sensor.
In another embodiment of the invention, an image segmentation process used in the method for applying massages and caresses on the user's skin is provided, comprising (a) obtaining the necessary information to create a digital image of the user through an image sensor, (b) classifying the user's position, identifying whether the user is facing back or front, and then segment the area that will receive the massage through the image segmenter assisted by artificial intelligence (AI) and (c) adapting the selected pattern to the scale and contour of the segmented image for performing the movements according to the pattern.
Finally, in another embodiment of the invention, a method for controlling the several motors of the massage and caress therapeutic robot is provided, comprising (a) initialization of the device by the user's input through the user interface, (b) initialization of the processors, controllers and motors, (c) determining the position of each joint of the deployable robotic arm through the motor encoders, (d) verifying if the movable upper section is partially or completely retracted, (e) extracting the entire movable upper section to its working position, (f) unfolding the robotic arm links, (g) choosing a preset pattern, (h) processing the selected pattern; and, finally, (i) executing the pattern; On the other hand, (j) if the user decides not to proceed with an additional massage pattern, (k) placing the deployable robot arm in its stacked position, (l) retracting the upper section, (m) deactivating the processors, controllers, and motors; and, finally (n) ending the method.
In summary, disclosed is a robotic caress and massage apparatus configured to deliver a massage or caress to a user comprising a fixed lower section having a top surface, and a floor, the top surface comprising an opening therethrough; a movable upper section, comprising a base and a vertical axis, the movable upper section adapted to fit within the fixed lower section and to emerge vertically from the fixed lower section through the opening on the top surface of the fixed lower section, the movable upper section further adapted to rotate about the vertical axis relative to the fixed lower section; a selective compliant articulated robot arm (SCARA) comprising a plurality of links, one or more of the plurality of links adapted to rotate about an axis parallel to the vertical axis; an effector removably attached to the robotic arm and adapted to contact the skin of the user; and a movable upper section lifting mechanism adapted to translate the movable upper section and robot arm vertically with respect to the fixed lower section between a stowed configuration and a deployed configuration. It will be understood that the vertical position of the movable upper section can be controlled to be anywhere between the retracted and deployed position, particularly once the robot arm is extended.
In certain embodiments, the movable upper section lifting mechanism comprises a lower section lead screw extending vertically from the floor of the fixed lower section; a selectively activated lower section electrical motor attached to the fixed lower section, and adapted to rotate the lower section lead screw upon activation; and a threaded follower attached to the movable upper section adapted to engage the lower section lead screw.
Some embodiments of the disclosed apparatus further comprise an upper section mast rotating base main pulley attached to the base of the movable upper section; a selectively activated upper section rotation electrical motor and lead screw attached to the fixed lower section; a mast rotating base small pulley engaged with the lead screw, and an upper section rotation belt adapted to engage the mast rotating base small pulley and the mast rotating base main pulley; wherein upon activation of the upper section rotation electrical motor, a rotational motion about the vertical axis is imparted on the movable upper section through the upper section rotation belt.
In some embodiments, the robot arm of the disclosed apparatus comprises an upper link having a proximal end and a distal end; an middle link having a proximal end and a distal end; and a lower link having a proximal end and a distal end; wherein the proximal end of the upper link is adapted to engage the movable upper section; wherein the distal end of the upper link and the proximal end of the middle link form a proximal joint configured to allow the middle link to rotate about an axis of the proximal joint; wherein the distal end of the middle link and the proximal end of the lower link form a distal joint configured to allow the lower link to rotate about an axis of the distal joint; and wherein the effector is attached to the distal end of the lower link.
The robot arm of the present invention can further comprise a selectively activated proximal joint electrical motor attached to the movable upper section; a proximal joint pulley attached to the proximal joint; and a proximal joint belt adapted to engage the proximal joint electrical motor and the proximal joint pulley; wherein upon activation of the proximal joint electrical motor, a rotational motion is imparted on the middle joint about the axis of the proximal joint through the proximal joint belt.
The robot arm of the present invention can also comprise a selectively activated distal joint electrical motor attached to the movable upper section; an intermediate distal joint pulley attached to the proximal joint; a terminal distal joint pulley attached to the distal joint; an intermediate distal joint belt adapted to engage the distal joint electrical motor and the intermediate distal joint pulley; and a terminal distal joint belt adapted to engage the intermediate distal joint pulley and the terminal distal joint pulley; wherein upon activation of the distal joint electrical motor, a rotational motion is imparted on the lower joint about the axis of the distal joint through the intermediate and terminal distal joint belts.
The disclosed apparatus, in some embodiments, also comprises a deployment controller for selectively activating the lower section electrical motor to translate the movable upper section between the stowed configuration and the deployed configuration; one or more a robot arm controllers for selectively activating one or more of the upper section vertical electrical motor, upper section rotation electrical motor, proximal joint electrical motor, and distal joint electrical motor to sequentially position the effector into contact with the skin of the user; wherein the sequential positioning of the effector into contact with the skin of the user delivers a massage or caress to the user; one or more a processors adapted to control the deployment controller and the one or more robot arm controllers; a memory adapted to store instructions for controlling the deployment controller and the one or more robot arm controllers; and a user interface for directing the one or more processors to operate the deployment controller and the one or more robot arm controllers in accordance with the instructions stored in the memory.
Additional details regarding the operation of the disclosed apparatus and method are included in the following description which includes non-limiting embodiments of certain aspects of the invention.
This description illustrates certain aspects of the invention, and specific embodiments thereof, in greater detail. This description is not intended to be exhaustive, but rather to inform and teach the person of skill in the art who will come to appreciate more fully other aspects, equivalents, and possibilities presented by the invention. The scope of the invention is set forth in the claims, which alone limit its scope.
The embodiments are set forth in the following description and in the attached figures. One skilled in the art will understand that the present invention may be practiced without using all of the details described herein. Moreover, in the description that follows, it is understood that the figures related to the various embodiments are not to be interpreted as conveying any specific or relative physical dimension, and that specific or relative dimensions related to the various embodiments, if stated, are not to be considered limiting unless recited in the claims.
Provided is an automated electromechanical device that uses robotic joints and sensors to apply massages and caresses or “structured touches” on the user's skin, providing therapeutic sensations of comfort and well-being. The present invention is described in detail in the following examples, which may represent more than one embodiment of the invention. A main representation of the therapeutic caress and massage robot is shown in
Subsequently,
In another embodiment of the invention,
In another aspect of the invention,
In another aspect of the invention,
According to another aspect of the invention,
In another aspect of the invention,
In another aspect of the invention,
In another aspect of the invention,
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The method continues with collecting the necessary information to create a digital image with the image sensor 1807, which can be a regular camera, a thermal image camera, a Laser Imaging Detection and Ranging (LIDAR) sensor or any other sensor capable of creating digital images. This information passes through an image processor 1808, which is responsible for processing the information received and converting it into relevant data for the image segmenter 1809, whose function is to categorize the relevant areas of the image assisted by artificial intelligence (AI), visual classification algorithms, or any another method that allows image segmentation. The image segmenter 1809 recognizes and isolates an image from the back of the user 1801, then it adapts the pattern 1810 previously selected by the user 1801 to the scale and contour of the segmented image.
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A path creator 1813 uses the information from the data processor 1812 and the pattern adaptation 1810 to create a trajectory adjusted to the data collected. This path describes the trajectory that the deployable robot arm 1818 effector must perform. Next, the inverse kinematics calculation 1814 of the pattern is performed, computing the angles that each joint of the deployable robotic arm 1818 must have as a function of time for the effector to perform the desired path.
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User 1801 is then prompted to select a preset pattern 2008, which is processed. 2009 and executed 2010, on the other hand, if the does not to select a pattern 2011, the deployable robot arm returns to its stacked position 2012 and the upper section is retracted 2013; finally, the processors, controllers, and motors are deactivated 2014, providing for the end 2015 of the method.
It will be apparent to one with skill in the art that the caress and massage therapeutic robot of the invention may be provided using some or all of the mentioned features and components without departing from the spirit and scope of the present invention. It will also be apparent to the skilled artisan that the embodiments described above are specific examples of a single broader invention which may have greater scope than any of the singular descriptions taught. There may be many alternations made in the descriptions without departing from the spirit and scope of the present invention. The scope of the present invention should, therefore, be determined only by the following claims.
