Granted Patent B2

US 12,394,404 · App. 17/798,267 · Granted Aug 19, 2025

Inventors: Joshua R. Smith (Seattle, WA); Jared Nakahara (Seattle, WA); Boling Yang (Seattle, WA)

Assignee: UNIVERSITY OF WASHINGTON

G10K15/00B25J15/0019G10K11/346G10K11/352

Abstract

Claims (58)

1. A method for a non-contact manipulation of an object, the method comprising:

lifting an object off a solid surface of a dispensing device by activating a first array of ultrasound transducers and a second array of ultrasound transducers, wherein the first array of ultrasound transducers and the second array of ultrasound transducers are vertically stacked, and wherein, when activated, the first array of ultrasound transducers and the second array of ultrasound transducers generate an ultrasound field;

after lifting the object, positioning the object between the first array of ultrasound transducers and the second array of ultrasound transducers; and

levitating the object by controlling the ultrasound field.

2. The method of claim 1 , further comprising:

generating phase delay inputs by a processor;

receiving the phase delay inputs by a programmable logic device;

producing phase delay signals by the programmable logic device;

receiving the phase delay signals the ultrasound transducers; and

levitating the object by operating individual ultrasound transducers based on the phase delay signals.

3. The method of claim 1 , further comprising:

activating a third array of ultrasound transducers, wherein the third array of ultrasound transducers is vertically stacked with the second array of ultrasound transducers; and

after activating the third array of ultrasound transducers, repositioning the object between the second array of ultrasound transducers and the third array of ultrasound transducers.

4. The method of claim 1 , further comprising:

selectively deactivating ultrasound transducers of the first array of ultrasound transducers and the second array of ultrasound transducers.

5. The method of claim 1 , further comprising:

selectively deactivating the first array of ultrasound transducers or the second array of ultrasound transducers.

6. The method of claim 1 , further comprising:

generating the ultrasound field by activating a third array of ultrasound transducers; and

generating the ultrasound field by activating a fourth array of ultrasound transducers,

wherein the first, second, third and fourth arrays of ultrasound transducers are vertically stacked.

7. The method of claim 6 , wherein the ultrasound transducers of the first, second, third and fourth arrays of ultrasound transducers are circularly arranged within their respective arrays.

8. The method of claim 6 , wherein the ultrasound transducers of the first, second, third and fourth arrays of ultrasound transducers are rectangularly arranged within their respective arrays.

9. The method of claim 1 , further comprising:

changing a position of at least one of the arrays of ultrasound transducers by a mechanical manipulator.

10. The method of claim 9 , wherein the mechanical manipulator is a robotic arm attached to the array of ultrasound transducers.

11. The method of claim 1 , wherein the object is a fluid particle, a particle of powder material, an insect, an integrated circuit chip, or a flower.

12. The method of claim 1 , wherein the object is a first object, the method further comprising:

lifting a second object off the dispensing device by the ultrasound field by activating the first array of ultrasound transducers and the second array of ultrasound transducers;

levitating the second object by the ultrasound field; and

bringing the second object in contact with the first object.

13. A device for non-contact manipulation of an object, comprising:

a first array of ultrasound transducers configured for generating an ultrasound field;

a second array of ultrasound transducers configured for generating the ultrasound field, wherein the first array of ultrasound transducers and the second array of ultrasound transducers are vertically stacked; and

a controller configured to generate phase delay signals for the first and second arrays of ultrasound transducers;

wherein the ultrasound field is configured for:

lifting the object off a solid surface of a dispensing device by activating the first array of ultrasound transducers and the second array of ultrasound transducers,

after lifting the object, positioning the object between the first array of ultrasound transducers and the second array of ultrasound transducers, and

levitating the object by the ultrasound field.

14. The device of claim 13 , wherein the controller comprises:

a processor configured for generating phase delay inputs; and

a programmable logic device configured for:

receiving the phase delay inputs from the processor, and

producing the phase delay signals.

15. The device of claim 13 , further comprising:

a mechanical manipulator that is attached to at least one of the first array of ultrasound transducers or the second array of ultrasound transducers, wherein the mechanical manipulator is configured for changing a position of the at least one of the first array of ultrasound transducers or the second array of ultrasound transducers.

16. The device of claim 15 , wherein the mechanical manipulator is a robotic arm.

17. The device of claim 13 , wherein the object is a fluid particle, a particle of powder material, an insect, an integrated circuit chip, or a flower.

18. The device of claim 13 , further comprising:

a third array of ultrasound transducers configured for:

generating the ultrasound field by activating the third array of ultrasound transducers, wherein the second array of ultrasound transducers and the third array of ultrasound transducers are vertically stacked; and

after activating the third array of ultrasound transducers, repositioning the object between the second array of ultrasound transducers and the third array of ultrasound transducers.

19. The device of claim 18 , further comprising:

a fourth array of ultrasound transducers configured for generating the ultrasound field by activating the fourth array of ultrasound transducers, wherein the first, second, third and fourth arrays of ultrasound transducers are vertically stacked.

20. The device of claim 19 , wherein individual ultrasound transducers of the first, second, third and fourth arrays of ultrasound transducers are configured for:

individual activation and deactivation, or

array-by-array activation and deactivation.

21. The device of claim 13 , wherein the ultrasound transducers are circularly or rectangularly arranged within their respective arrays.

Assignments (1)

Continuity (2)

References Cited (196)