# US 8,571,713 B2 · Robot and method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,571,713 B2 - Document ID: US8571713B2 - Status: Granted - Kind: B2 - Application number: 12/616,297 - Filed: 2009-11-11 - Published: 2010-06-10 - Granted: 2013-10-29 - Earliest claimed: 2008-12-10 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Kyung Rock Kim - Inventors: Kyung Rock Kim - Web page: https://patentgrep.com/patent/US8571713B2 ## CPC - B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - 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}) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract Disclosed herein are a robot generating a message using a robot hand, and a control method thereof. When a user types characters using a robot hand, a hand body part and a finger part of the robot hand output displacement signals and a command reading unit accordingly generates a message corresponding to the displacement signals. The message is transmitted to a robot controlling unit. In addition, the message is outputted by sound or displayed to be easily checked by the user. ## Claims ### Claim 1 A humanoid robot hand comprising: a hand body part; and at least one finger part connected to the hand body part, wherein the hand body part or the finger part has a keyboard function used to input commands through the humanoid robot hand. ### Claim 2 (depends on 1) The humanoid robot hand according to claim 1, further comprising a sensor unit that detects mechanical displacement thereof. ### Claim 3 (depends on 2) The humanoid robot hand according to claim 2, wherein the sensor unit comprises an encoder or a gyro sensor mounted to joints of the robot hand. ### Claim 4 (depends on 1) The humanoid robot hand according to claim 1, further comprising a sensor unit that detects electric displacements thereof. ### Claim 5 (depends on 4) The humanoid robot hand according to claim 4, wherein the sensor unit comprises any one of a touch sensor, a strain gauge and a torque sensor mounted to a surface of the humanoid robot hand. ### Claim 6 A humanoid robot hand comprising: a hand body part; at least one finger part connected to the hand body part; and a sensor unit equipped to the hand body part or the finger part to function as a keyboard used to input commands through the humanoid robot hand. ### Claim 7 (depends on 6) The humanoid robot hand according to claim 6, wherein the sensor unit comprises an encoder or a gyro sensor which detects mechanical displacements and thereby outputs displacement signals. ### Claim 8 (depends on 6) The humanoid robot hand according to claim 6, wherein the sensor unit comprises at least one of a touch sensor, a strain gauge and a torque sensor detecting electric displacements and outputting displacement signals. ### Claim 9 A humanoid robot comprising: a humanoid robot hand constituted by a hand body part and a finger part, any one of which has a keyboard function; and a command reading unit generating a message according to displacement signals generated from the humanoid robot hand. ### Claim 10 (depends on 9) The humanoid robot according to claim 9, wherein the displacement signals are generated through mechanical or electric displacements of the humanoid robot hand. ### Claim 11 (depends on 9) The humanoid robot according to claim 9, wherein the command reading unit comprises: a mapping information storage unit storing mapping information generated by matching the displacement signals to characters; a character generation unit generating characters corresponding to the input displacement signals using the mapping information; and a message generation unit generating a message using the generated characters. ### Claim 12 (depends on 9) The humanoid robot according to claim 9, wherein the command reading unit includes a message storage unit that stores the generated message. ### Claim 13 (depends on 9) The humanoid robot according to claim 9, further comprising a sound outputting unit that outputs the generated message in the form of sound. ### Claim 14 (depends on 9) The humanoid robot according to claim 9, further comprising a displaying unit that displays the generated message. ### Claim 15 A method to control a humanoid robot, comprising: detecting displacements by a sensor mounted to a humanoid robot hand; generating characters corresponding to displacement signals of the sensor; and generating a message by combining the characters in order. ### Claim 16 (depends on 15) The method to control the humanoid robot according to claim 15, further comprising outputting the generated message in the form of sound. ### Claim 17 (depends on 15) The method to control the humanoid robot according to claim 15, further comprising displaying the generated message. ### Claim 18 (depends on 15) The method to control the humanoid robot according to claim 15, further comprising storing the generated message. ### Claim 19 (depends on 15) The method to control the humanoid robot according to claim 15, wherein the displacement signals are output from the sensor that detects mechanical displacement of the humanoid robot hand. ### Claim 20 (depends on 15) The method to control the humanoid robot according to claim 15, wherein the displacement signals are output from the sensor that detects electric displacement of the humanoid robot hand.