IP Library › Granted Patent US 12,282,710
Granted Patent B2
US 12,282,710 · App. 17/281,817 · Granted Apr 22, 2025

Flexible manipulation device and method for fabricating the same

Inventors: Jonathan King (Pittsburgh, PA); Nancy S. Pollard (Pittsburgh, PA); Stelian Coros (Zürich, CH); Kai-Hung Chang (El Cerrito, CA); Cornelia Ulrike Bauer (Pittsburgh, PA); Dominik Bauer (Pittsburgh, PA); Daniele Moro (Boise, ID)
Assignee: Carnegie Mellon University
G06F30/10B25J3/04B25J9/104B25J13/02B25J15/0009G06F30/27G06N3/008
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Quick Facts
Patent No.
US 12,282,710
App. No.
17/281,817
Granted
Apr 22, 2025
Kind
B2
Abstract

A manipulation device includes an appendage extending from a base, the appendage comprising a flexible material having a resting pose and adapted to be deformed into a plurality of different poses, and at least one tendon attached to an end of the appendage and passing through the base or a portion of the appendage between the base and the distal end, such that actuation of the at least one tendon causes deformation of the appendage from the resting pose to a new pose. Systems and methods for fabricating and optimizing a manipulation device are also provided.

Claims (42)

1. A method for fabricating a tendon-driven manipulation device comprising at least one appendage, the method comprising:

generating, with at least one processor, a three-dimensional model of the manipulation device;

generating, with the at least one processor, at least one simulated tendon connected to the three-dimensional model based on at least one location on the at least one appendage of the three-dimensional model;

training, with the at least one processor, an artificial neural network based on simulated activations of the at least one simulated tendon, wherein each simulated activation is based on the at least one location of the at least one simulated tendon and results in at least one pose of the at least one appendage;

modifying, with the at least one processor, the at least one location of the at least one simulated tendon;

simulating, with the at least one processor, a plurality of poses of the at least one appendage based on the artificial neural network and the at least one location; and

connecting at least one tendon to the at least one appendage of the manipulation device based on the location of the at least one simulated tendon.

2. The method of claim 1 , further comprising forming the at least one appendage from at least one of the following materials: foam, silicone, an elastomer, polydimethylsiloxane, rubber, plastic, biological material, nanomaterial, cork, compressed textiles, or any combination thereof.

3. The method of claim 1 , wherein forming the at least one appendage further comprises covering at least a portion of the appendage with a skin.

4. The method of claim 3 , wherein connecting the at least one tendon to the manipulation device comprises connecting the tendon to the skin.

5. The method of claim 1 , wherein the at least one tendon comprises a flexor tendon and an extensor tendon, and wherein the at least one simulated tendon comprises a simulated flexor tendon and a simulated extensor tendon.

6. The method of claim 1 , wherein the at least one appendage comprises a plurality of fingers.

7. The method of claim 6 , wherein the manipulation device comprises a molded or printed human hand.

8. The method of claim 1 , wherein connecting the at least one tendon to the manipulation device comprises:

connecting a first end of the at least one tendon to a location corresponding to the location of the at least one simulated tendon; and

passing the at least one tendon through a portion of a base connected to the at least one appendage or a portion of the at least one appendage between the base and the location.

9. The method of claim 8 , further comprising connecting a second end of the at least one tendon to an actuation device configured to actuate the at least one tendon.

10. The method of claim 8 , wherein the at least one simulated tendon is generated based further on a simulated connection point located on the three-dimensional model, wherein each simulated activation is based further on a location of the simulated connection point, and wherein passing the at least one tendon through the portion of the base or the portion of the at least one appendage comprises passing the at least one tendon through a location on the base or the at least one appendage corresponding to the location of the simulated connection point.

11. The method of claim 1 , wherein the at least one tendon comprises at least one of the following: a string, a wire, a cable, or any combination thereof.

12. The method of claim 1 , wherein the simulated activations of the at least one tendon are based on at least one of the following tendon properties: elasticity, stiffness, slack, strength, bend radius, friction, material type, or any combination thereof.

13. The method of claim 1 , wherein the at least one appendage comprises a joint, and wherein connecting the at least one tendon to the manipulation device comprises;

connecting a first end of the at least one tendon to the location of the at least one simulated tendon; and

passing the at least one tendon through a portion of the at least one appendage below the joint such that the joint is arranged between the location and the portion of the at least one appendage.

14. The method of claim 1 , wherein the at least one location on the at least one appendage is identified based on user input, and wherein the at least one location is modified based on additional user input.

15. A system for fabricating a tendon-driven manipulation device comprising at least one appendage, the system comprising:

a manipulation device comprising a base, at least one appendage extending from the base, and at least one tendon connected to the appendage; and

at least one computing device programmed or configured to:

generate a three-dimensional model of the manipulation device;

generate at least one simulated tendon relative to the three-dimensional model based on at least one location on the at least one appendage of the three-dimensional model;

train an artificial neural network based on simulated activations of the at least one simulated tendon, wherein each simulated activation is based on the at least one location of the at least one simulated tendon and results in at least one pose of the at least one appendage;

modify the at least one location of the at least one simulated tendon; and

simulate a plurality of poses of the at least one appendage based on the artificial neural network and the at least one location, wherein the at least one tendon is connected to the manipulation device based on the location of the at least one simulated tendon.

16. The system of claim 15 , wherein the manipulation device further comprises a skin, and wherein the at least one tendon is connected to the skin.

17. The system of claim 15 , wherein the at least one tendon comprises a flexor tendon and an extensor tendon, and wherein the at least one simulated tendon comprises a simulated flexor tendon and a simulated extensor tendon.

18. The system of claim 15 , wherein a first end of the at least one tendon is connected to a location corresponding to the location of the at least one simulated tendon, and wherein the at least one tendon passes through a portion of the base or a portion of the at least one appendage between the base and the location.

19. The system of claim 15 , wherein the at least one simulated tendon is generated based further on a simulated connection point located on the three-dimensional model, wherein each simulated actuation is based further on a location of the simulated connection point, and wherein the at least one tendon passes through a location on the base or the at least one appendage corresponding to the location of the simulated connection point.

20. A computer program product for simulating a tendon-driven manipulation device comprising at least one appendage, comprising at least one non-transitory computer-readable medium including program instructions that, when executed by a computing device, cause the computing device to:

generate a three-dimensional model of the manipulation device;

generate at least one simulated tendon on the three-dimensional model based on at least one location on the at least one appendage of the three-dimensional model;

train an artificial neural network based on simulated activations of the at least one simulated tendon, wherein each simulated activation is based on the at least one location of the at least one simulated tendon and results in at least one pose of the at least one appendage;

modify the at least one location of the at least one simulated tendon; and

simulate a plurality of poses of the at least one appendage based on the artificial neural network and the at least one location, wherein the at least one tendon is connected to the manipulation device based on the location of the at least one simulated tendon.

Assignments (2)
CONFIRMATORY LICENSE Recorded Jan 16, 2024
From: CARNEGIE-MELLON UNIVERISTY
To: NATIONAL SCIENCE FOUNDATION
Reel/Frame 066316/0928 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Mar 31, 2021
From: KING, JONATHAN; POLLARD, NANCY S.; COROS, STELIAN; CHANG, KAI-HUNG; BAUER, CORNELIA ULRIKE; BAUER, DOMINIK; MORO, DANIELE
To: CARNEGIE MELLON UNIVERSITY
Reel/Frame 055785/0943 →
Continuity (2)
Provisional Application 62766142 · Oct 3, 2018
Related Publication 20220004670A1 · Jan 6, 2022
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