# US 12,179,356 B2 · Voice-activated, compact, and portable robotic system

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- Number: US 12,179,356 B2
- Document ID: US12179356B2
- Status: Granted
- Kind: B2
- Application number: 17/433,367
- Filed: 2020-03-04
- Published: 2022-05-12
- Granted: 2024-12-31
- Earliest claimed: 2019-03-04
- Assignees: Georgia Tech Research Corporation
- Applicants: Georgia Tech Research Corporation
- Inventors: Jaydev P. Desai; Seokhwan Jeong; Phillip Tran; Xuefeng Wang
- Web page: https://patentgrep.com/patent/US12179356B2

## CPC

- A61F 2/586: {Fingers}
- B25J 9/1615: {characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators}
- B25J 9/0006: {Exoskeletons, i.e. resembling a human figure}
- B25J 9/0015: {Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion}
- B25J 9/104: {with cables, chains or ribbons}
- B25J 9/1075: {with muscles or tendons}
- B25J 9/1612: {characterised by the hand, wrist, grip control}
- B25J 9/1633: {compliant, force, torque control, e.g. combined with position control}
- B25J 13/003: {by means of an audio-responsive input (audible safety signals B25J19/061)}
- B25J 15/0683: {Details of suction cup structure, e.g. grooves or ridges}
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- 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

In a joint movement device (100) for selective flexion and extension of a joint (20), a tendon (120) is disposed adjacent to the first and second joint members. A tendon securing device (112) is secured to the second joint member (12), the tendon (120) being secured to the tendon securing device (112). At least one phalange ring (110) is secured to a joint member and includes a tending routing mechanism (113) configured to route the tendon through the phalange ring (110). An actuator (140) is coupled to the tendon (120) and pulls the tendon (120) inwardly to cause the joint (20) to flex. An elastic member (130) is coupled to the phalange ring (110) and tendon securing device (112) and applies an extension force thereto, thereby causing the joint (20) to extend when the actuator (140) releases the tendon (120).

## Claims

### Claim 1

A joint movement device for selective flexion and extension of a joint having a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end and the joint coupling the distal end of the first joint member to the proximal end of the second joint member so that the second joint member is in a flexural relationship to the first joint member, comprising:
(a) a tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(b) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(c) at least one phalange ring secured to the first joint member, the at least one phalange ring and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the at least one phalange ring;
(d) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex; and
(e) an elastic member coupled to both the phalange ring and the tendon securing device and not coupled to any actuator and configured to apply a constant extension force to the tendon securing device, thereby causing the joint to extend when the actuator releases the tendon.

### Claim 2 (depends on 1)

The joint movement device of claim 1, wherein the actuator comprises:
(a) a tendon shortening mechanism configured to shorten a portion of the first tendon between the phalange ring and the tendon securing device; and
(b) a controller configured to activate the tendon shortening mechanism.

### Claim 3 (depends on 2)

The joint movement device of claim 2, wherein the first end of the tendon is secured to the cap and wherein the tendon shortening mechanism comprises:
(a) a housing;
(b) an electric motor coupled to the housing;
(c) a threaded member coupled to the motor so as to be rotatable thereby, the threaded member including a continuous spiral root having a pitch corresponding to a diameter of the tendon;
(d) a nut in threaded relationship with the threaded member, the nut held by the housing so that when the motor rotates the threaded member, the nut moves laterally along the threaded member, the nut defining a passage through which the tendon passes,
wherein the second end of the tendon is secured to the threaded member so that when the threaded member rotates in a first direction, the tendon is pulled into the housing and wrapped around the continuous spiral root and so that when the threaded member rotates in a second direction, opposite the first direction, the tendon is unwrapped from the continuous spiral root and released from the housing.

### Claim 4 (depends on 2)

The joint movement device of claim 2, wherein the tendon shortening mechanism comprises an electric motor including a rotor to which both the first end of the tendon and the second end of the tendon are affixed, wherein the tendon is routed through the phalange ring and the tendon securing device so that when the motor rotates in a first direction, a first portion of the tendon and a second portion of the tendon twist about each other so as to cause shortening of a third portion of the tendon disposed between the phalange ring and the tendon securing device and a fourth portion of the tendon disposed between the first phalange ring and the tendon securing device.

### Claim 5 (depends on 1)

The joint movement device of claim 1, wherein the elastic member comprises a nickel titanium alloy wire.

### Claim 6 (depends on 1)

The joint movement device of claim 1, wherein the tending routing mechanism of each phalange ring includes a passage defined through which the tendon passes that is lined with a poly(tetrafluoroethylene) liner so as to reduce friction on the tendon.

### Claim 7 (depends on 1)

The joint movement device of claim 1, wherein the elastic member comprises a spring having one end in a fixed relationship with the first joint and a second end coupled to a cord that is coupled to the cap and that is disposed on a side of the joint opposite from the tendon.

### Claim 8 (depends on 1)

An exoskeleton system configured for use with a plurality of different fingers of a hand comprising a plurality of joint movement devices as recited in claim 1, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner.

### Claim 9 (depends on 8)

The exoskeleton system of claim 8, further comprising a controller that is in control communication with each actuator, wherein the controller is configured to respond to a plurality of different voice commands regarding flexion and extension of the joint.

### Claim 10 (depends on 9)

The exoskeleton system of claim 9, wherein each of the plurality of voice commands corresponds to a different predetermined movement pattern for the fingers.

### Claim 11 (depends on 10)

The exoskeleton system of claim 10, wherein the different predetermined movement patterns include: gripping an object, pinching the object, grasping the object and releasing the object.

### Claim 12 (depends on 9)

The exoskeleton system of claim 9, wherein the controller includes a chipset that is in communication with a digital device.

### Claim 13 (depends on 12)

The exoskeleton system of claim 12, wherein the digital device is a selected one of: a mobile telephone, a tablet, a dedicated device, a desktop computer and a laptop computer.

### Claim 14

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:
(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device;
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon; and
(vi) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint.

### Claim 15 (depends on 14)

The robotic exoskeleton of claim 14, wherein each of the plurality of voice commands to a different predetermined movement pattern for the fingers.

### Claim 16 (depends on 15)

The robotic exoskeleton of claim 15, wherein the different predetermined movement patterns include: gripping an object, pinching the object, grasping the object and releasing the object.

### Claim 17 (depends on 14)

The robotic exoskeleton of claim 14, wherein the controller includes a chipset that is in communication with a digital device.

### Claim 18 (depends on 17)

The robotic exoskeleton of claim 17, wherein the digital device is a selected one of: a mobile telephone, a tablet, a dedicated device, a desktop computer and a laptop computer.

### Claim 19 (depends on 14)

The robotic exoskeleton of claim 14, wherein the first end of each tendon is secured to the cap and wherein the tendon shortening mechanism comprises:
(a) a housing;
(b) an electric motor coupled to the housing;
(c) a threaded member coupled to the motor so as to be rotatable thereby, the threaded member including a continuous spiral root having a pitch corresponding to a diameter of the tendon;
(d) a nut in threaded relationship with the threaded member, the nut held by the housing so that when the motor rotates the threaded member, the nut moves laterally along the threaded member, the nut defining a passage through which the tendon passes,
wherein the second end of the tendon is secured to the threaded member so that when the threaded member rotates in a first direction, the tendon is pulled into the housing and wrapped around the continuous spiral root and so that when the threaded member rotates in a second direction, opposite the first direction, the tendon is unwrapped from the continuous spiral root and released from the housing.

### Claim 20 (depends on 14)

The robotic exoskeleton of claim 14, wherein the elastic member comprises a nickel titanium alloy wire.

### Claim 21 (depends on 14)

The robotic exoskeleton of claim 14, further comprising:
(a) a plurality of suction cups disposed adjacent to the palm so as to increase a gripping force applied to an object being gripped;
(b) a suction cup controller; and
(c) a pneumatic tube coupling each suction cup to the suction cup controller so that the suction cup controller maintains a desired pressure with the suction cup.

### Claim 22 (depends on 21)

The robotic exoskeleton of claim 21, further comprising a sensor embedded in at least one of the plurality of suction cups and configured to provide the suction cup controller with real time feedback.

### Claim 23

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:
(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device; and
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
(b) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint;
(c) a plurality of suction cups disposed adjacent to the palm so as to increase a gripping force applied to an object being gripped; and
(d) a plurality of sensors disposed adjacent to the palm so as to provide feedback to the controller.

### Claim 24

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:
(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device; and
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
(b) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint; and
(c) a plurality of suction cups disposed adjacent to the palm so as to increase a gripping force applied to an object being gripped.

### Claim 25

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:
(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device; and
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
(b) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint; and
(c) a plurality of sensors disposed adjacent to the palm so as to provide feedback to the controller.