# US 11,991,983 B2 · Automatic dog back scratcher system and method of using same

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- Number: US 11,991,983 B2
- Document ID: US11991983B2
- Status: Granted
- Kind: B2
- Application number: 17/356,291
- Filed: 2021-06-23
- Published: 2022-01-06
- Granted: 2024-05-28
- Earliest claimed: 2020-07-04
- Assignees: Cassidy Matwiyoff
- Applicants: Cassidy Matwiyoff
- Inventors: Cassidy Matwiyoff; Alexander Matthew Lopez; Daniel Sousa, Jr.; Nicholas Ganson Repanich; David G. Alexander; Nicholas Chenevey; Marco Antonio Machuca-Romera; John Chen Danley; Luis Alberto Arevalo
- Web page: https://patentgrep.com/patent/US11991983B2

## CPC

- A01K 13/00: Devices for grooming or caring of animals, e.g. curry-combs; Fetlock rings; Tail-holders (as part of the harness B68B5/04); Devices for preventing crib-biting; Washing devices; Protection against weather conditions or insects
- A01K 5/0233: {dispensing by dosing means actively operated by the animal}
- B25J 9/0003: {Home robots, i.e. small robots for domestic use}
- B25J 9/042: {comprising an articulated arm}
- B25J 9/1679: {characterised by the tasks executed}
- B25J 9/1697: {Vision controlled systems}
- B25J 11/00: Manipulators not otherwise provided for
- B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand}
- B25J 19/023: {including video camera means}
- A01K: ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

An automatic dog back scratcher system that scratches a dog, comprising a frame assembly; a housing covering the frame assembly; a movable arm assembly supported by the frame assembly and including a movable finger assembly; a treat dispenser assembly; a camera; a motion sensor; a controller configured to sense motion of an object via the motion sensor, determine the object in motion is a dog via the camera, dispense a treat via the treat dispenser assembly to attract the dog to a location adjacent to the automatic dog back scratcher system, and operate the movable arm assembly to move the arm adjacent to the dog and scratch the dog with the movable finger assembly.

## Claims

### Claim 1

An automatic dog back scratcher system that scratches a dog, comprising:
a frame assembly;
a movable arm assembly supported by the frame assembly and including a movable finger assembly;
a treat dispenser assembly, comprising a treat dispensing tube configured to receive dog treats, a plate with a treat dispensing hole that the dog treats fall through, and a motor associated therewith that the controller causes the treat dispensing tube to move with the dog treats therein relative to the treat dispensing hole to cause treats to slide along the plate and fall through the treat dispensing hole for dispensing to the dog;
a camera;
a motion sensor;
a housing covering the frame assembly and treat dispenser, wherein the movable arm assembly extends outward from the housing, wherein the housing is mountable on a wall to elevate the automatic dog back scratcher system above the ground;
a controller configured to sense motion of an object via the motion sensor, determine the object in motion is a dog via the camera, based on determining the object in motion is a dog, dispense a treat via the treat dispenser assembly to attract the dog to a location adjacent to the automatic dog back scratcher system, and then operate the movable arm assembly to move the movable arm assembly adjacent to the dog and scratch the dog with the movable finger assembly;
wherein when the treat dispenser dispenses the treat to the dog, the treat falls to a location on the ground that is adjacent and beneath the movable finger assembly, such that when the dog approaches the treat, the movable finger assembly is above and adjacent to the dog's back;
wherein the movable arm assembly includes an upper arm member, a lower arm member, and a hand assembly that includes the movable finger assembly, the lower arm member including a first end that is coupled to the hand assembly and a second end opposite to the first end, a shoulder joint with a shoulder joint motor that moves the upper arm member relative to the frame assembly, an elbow joint with an elbow joint motor that moves the lower arm member relative to the upper arm member, and a lower arm member motor disposed adjacent to the second end of the lower arm member, the lower arm member motor associated with the movable finger assembly to impart motion to the movable finger assembly to scratch the dog, the hand assembly includes a rotation finger joint, an upper part including an upper attachment member above the rotation finger joint, a lower part including a lower attachment member below the rotation finger joint, the lower arm member includes an upper tendon coupling the lower arm motor to the upper part of the hand assembly, a lower tendon coupling the lower arm motor to the lower part of the hand assembly, whereby rotation of the lower arm motor in one direction causes the upper tendon to pull more on the upper part of the hand assembly than the lower tendon pulls on the lower part of the hand assembly, causing the finger assembly to move upward, and rotation of the lower arm motor in an opposite direction causes the lower tendon to pull more on the lower part of the hand assembly than the upper tendon pulls on the upper part of the hand assembly, causing the finger assembly to move downward.

### Claim 2 (depends on 1)

A method of using an automatic dog back scratcher system, comprising:
providing the automatic dog back scratcher system of claim 1;
receiving a dog treat in the treat dispensing tube of the treat dispenser assembly;
detecting motion of an object via the motion sensor and the controller;
determining the object in motion is a dog via the camera and the controller; and
based on said determining:
causing, with the controller, the treat dispensing tube to move relative to the treat dispensing hole to cause the dog treat to slide along the plate and fall through the treat dispensing hole for dispensing the dog treat to the dog, wherein the treat falls to the location on the ground that is adjacent and beneath the movable finger assembly, such that when the dog approaches the treat, the movable finger assembly is above and adjacent to the dog's back; and
operating the movable arm assembly to move the movable arm assembly adjacent to the dog, and then operating the lower arm member and the hand assembly to scratch the dog with the movable finger assembly by:
rotating the lower arm motor in one direction, causing the upper tendon to pull more on the upper part of the hand assembly than the lower tendon pulls on the lower part of the hand assembly, causing the finger assembly to move upward, and
rotating the lower arm motor in an opposite direction, causing the lower tendon to pull more on the lower part of the hand assembly than the upper tendon pulls on the upper part of the hand assembly, causing the finger assembly to move downward.