# US 9,751,216 B2 · Robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,216 B2 - Document ID: US9751216B2 - Status: Granted - Kind: B2 - Application number: 14/471,706 - Filed: 2014-08-28 - Published: 2014-12-18 - Granted: 2017-09-05 - Earliest claimed: 2009-01-14 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Hong Won Kim; Woo Sup Han; Yong Jae Kim - Inventors: Hong Won Kim; Woo Sup Han; Yong Jae Kim - Web page: https://patentgrep.com/patent/US9751216B2 ## CPC - B25J 19/00: Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) - B25J 5/007: {mounted on wheels} - B25J 9/104: {with cables, chains or ribbons} - B25J 18/00: Arms - B25J 19/06: Safety devices - Y10S 901/27: Arm part - Y10T 74/20329: Joint between elements - 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}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A robot capable of communicating according to a gesture may include a plurality of link members, and an outer cover member surrounding the plurality of link members. The shape of the outer cover member is varied into a curved shape, when the outer cover member is adhered closely to the plurality of link members, according to the variation of the shapes of the plurality of link members. ## Claims ### Claim 1 A robot comprising: a head, the head configured to pivot when the robot conveys one or more gestures to a user; a body connected to the head, the body including a plurality of link members, each link member being configured to rotate separately about spinal joints such that the body can pivot in at least two directions; a pair of arms protruding from the body, the pair of arms connected to the body via shoulder joints, the pair of arms configured to move in a waving motion when the robot conveys one or more of the gestures to the user; a support connected to the body, the support including wheels and a driving device, the driving device configured to drive the wheels to move the body; a first outer cover member surrounding the plurality of link members, the first outer cover member including a material that is flexible and elastic such that a shape of the first outer cover member varies according to variation in a shape of the plurality of link members when the robot conveys one or more of the gestures to the user; and a second outer cover member surrounding the support. ### Claim 2 (depends on 1) The robot according to claim 1, wherein the shape of the first outer cover member varies into a curved shape. ### Claim 3 (depends on 1) The robot according to claim 1, wherein the plurality of link members include at least three link members. ### Claim 4 (depends on 1) The robot according to claim 1, wherein each of the plurality of link members have a rectilinear shape. ### Claim 5 A robot comprising: a head, the head configured to pivot when the robot conveys one or more gestures to a user; a body connected to the head, the body including a plurality of link members, each link member being configured to rotate separately about spinal joints such that the body can pivot in at least two directions; a pair of arms protruding from the body, the pair of arms connected to the body via shoulder joints, the pair of arms configured to move in a waving motion when the robot conveys one or more of the gestures to the user; a support connected to the body, the support including wheels and a driving device, the driving device configured to drive the wheels to move the body; a first outer cover member surrounding the plurality of link members, the first outer cover member including a material that is flexible and elastic such that a shape of the first outer cover member varies according to variations in a shape of the plurality of link members when the robot conveys one or more of the gestures to the user; and a second outer cover member surrounding the support, wherein the second outer cover member is formed integrally with the first outer cover member such that a lower end of the first outer cover member is fixed to the support by the second outer cover member, and an upper end of the first outer cover member is fixed to an upper end of a first link member near the head. ### Claim 6 (depends on 5) The robot according to claim 5, wherein the shape of the first outer cover member is varied into a curved shape. ### Claim 7 (depends on 5) The robot according to claim 5, wherein the first outer cover member is adhered closely to the plurality of link members. ### Claim 8 (depends on 5) The robot according to claim 5, wherein each of the plurality of link members have a rectilinear shape.