Amazon Technologies, Inc.

Zeemote Technology Inc.

Zeemote, Inc.

Fish & Richardson P.c.

Zeetoo, Inc.

Aplix IP Holdings Corporation

Beth A Marcus

Elaine Chen

Gregory Coleman

Lorraine Wheeler

Rob Podoloff

Leonard Thomas Lilliston, Iii

Manikantan Nambi

Erica Aduh

Timothy G Dietz

W David Lee

Jude R Jonas

Andrew Dominic Marchese

Bertan Atamer

Areej Pirzada

Margaret Jean Williams George

Robert Kevin Katzschmann

Paul William Calnan, Iii

Kristin Covelle

John William Romanishin

Gregory Thomas Merlino

Michel Bruehwiler

Parris S Wellman

Felipe De Arruda Camargo Polido

Jonas Eichenberger

Mathias Moser

Dominique Ernst

Kyle Rawding

Ueli Schlaepfer

Kristine Moore

Phil Churchill

Hunter Sawyer

Rotatable joints may include one or more braking assemblies. The one or more braking assemblies may control a degree of movement of the rotatable joint to provide a range of damping. In some instances, the braking assemblies may include brake band(s) that tighten and loosen around a hub, or other rotatable member of the rotatable joint. The amount of braking, or tautness of the brake band(s), may be variably controlled to arrest the hub by different amounts. In some instances, the tightening of the brake band(s) around the hub may be controlled using linear actuator(s) and/or magnetic element(s). Implementing braking assemblies having controlled actuation may improve control of rotatable joints without adding cost, complexity, weight, or bulk.

Braking assembly for applying a controllable braking force to a rotatable joint

Systems, devices, and methods are provided for an automated sleep assistant. An automated sleep assistant may comprise an audio input device for capturing sounds and utterances made by a user while sleeping. Audio data may be collected and analyzed to identify sleep patterns indicative of an adverse sleep-related condition such as Obstructive Sleep Apnea (OSA). A pillow comprising a plurality of regions with one or more sensors, one or more inflatable air bladders, and one or more haptic feedback devices may be utilized. A base unit device physically connected to the pillow may determine one or more external forces that mitigate the adverse sleep-related condition and cause the pillow to apply the one or more external forces to the user, for example, by using a pump to inflate an air bladder to help the user's head lift or tip to a specific angle that opens his or her airway.

Automated sleep assistant

A vacuum-gripper end effector conforms to and grasps items upon application of vacuum force and/or actuation of one or more actuators. The vacuum-gripper assembly can be round in top view or can be rectangular. At least three linear actuators deform the vacuum-gripper assembly. Four linear actuators may be spaced equidistantly apart on a square or rectangular vacuum-gripper assembly to enhance functionality of the vacuum-gripper, such as being capable of simultaneously engaging three sides formed at a corner of a box. A one-way actuation type air cylinder may be used. A low friction air cylinder may be returned to its retracted position by the resilience of the vacuum-gripper assembly.

Multi-piston, vacuum gripper assembly

Examples described herein are directed to methods, computer-readable media, and systems for controlling an end of arm tool with one or more suction zones to pick up an item. Sensor data regarding the item is obtained. The sensor data is used to determine which of the one or more suction zones should be used to pick up the item. A rotational orientation is also determined that orients the determined suction zone(s) with the item. The end of arm tool is then instructed to create a suction force at the one or more suction zones and to pick up the item using the suction force.

Rotating end of arm tool including asymmetrical independently controllable suction zones

A system and method for backdrivability control of end effectors in robotic systems are described. In one example, a robotic system includes a joint in a kinematic chain, an end effector at an end of the kinematic chain, and an assembly for backdrivability control of the joint. The assembly includes a frame comprising a flexure arm and a circular clearance area that extends around the joint, a brake band having one end secured along the circular clearance area and a second end secured at an end of the flexure arm, and a brake actuator configured to selectively pull the end of the flexure arm and tighten the brake band around the joint. The brake actuator can be actuated to tighten the brake band around the joint, arresting or dampening motion in the kinematic chain of the system for certain movements.

Band brake for backdrivability control

Systems, methods, and computer-readable media are disclosed for portable robotic manipulation systems. In one embodiment, an example robot assembly may include a first portion that includes a first robotic arm configured to manipulate objects, a second portion coupled to the first portion, the second portion including a moveable sensor assembly, and a controller configured to control operation of the first robotic arm and operation of the moveable sensor assembly. The robot assembly is portable and configured to operate in fenced or unfenced environments, and may be configured to perform different tasks in different environments.

Portable robotic manipulation systems

Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.

Linkage system for prehending objects using impactive forces

A mechanically intelligent end-of-arm tool includes a valve that is actuated by the action of the arm, such that a force applied to the object to be grasped opens the valve to expose a suction cup to the vacuum pressure. A spool valve, poppet valve, and butterfly valve, et al., can perform the valve function. The tool may include a button that has a rigid contact surface or may be deformable to provide a smoothing force to the object.

Mechanically intelligent end-of-arm tool

A system for backdrivability control of end effectors in robotic systems is described. In one example, a brake assembly for backdrivability control includes a frame having a clearance area. The brake assembly is positioned so that the rotor of the motor extends through the clearance area. The brake assembly includes a brake band secured at one distal end along the clearance area, extending around a periphery of the clearance area, and secured at a second distal end at a flexure arm of the frame. The brake assembly also includes a brake actuator including a permanent magnet at the distal end of the flexure arm and an electromagnet secured to the fame. The brake actuator can be energized to tighten the brake band around the rotor of the motor, arresting or dampening motion of the end effector for certain movements.

A soft actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. The walls of the air bladders, upon pressurization, expand to contact adjacent structure, such as other expanding air bladders, to move a constraining layer of the actuator from a rest position toward an actuated position. A gripper for engaging items is formed by the soft actuator and a suction cup.

Soft actuator and gripper assembly

Examples described herein are directed to an item manipulation system that includes an end of arm tool. The end of arm tool includes a suction manifold including multiple independently controllable asymmetrical suction zones. The end of arm tool is also configured to rotate about a tool axis to selectively align the independently controllable asymmetrical suction zones with target items for manipulation.

A suction-cup end effector conforms to and grasps objects upon application of vacuum force. The suction cup assembly can have isotropic stiffness in a plane defined by a contact surface of the suction cup assembly and thus can conform regardless of the orientation of the suction cup to the object. The suction cup includes a foam suction cup body, a thin structural ring to provide a spring bias toward a rest position, and a sealing membrane within the structural ring to seal the suction cup.

Adaptable suction cup assembly

An actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. Air bladders of the actuator apply bending moments to rigid flange structures, which transmit the moments to a base layer of the actuator. Grasping elements may be used.

Actuator and gripper assembly

An articulating end-of-arm tool includes back-drive capability. The tool has a cable drive including a vertically oriented capstan head, a pair of idler pulleys, a driven pulley and a tensioner. The driven pulley pivot on a hollow shaft, through which a vacuum channel passes. The vacuum channel extends through the length of the body, including past the vertically oriented motor. The driven pulley is within 10 degrees of perpendicular of the longitudinal axis of the tool.

Articulating suction cup tool

Implementations of an end effector and an associated method of grasping an item are disclosed. The end effector comprises an interface system comprising a mounting plate having at least a first portion movable relative to at least a second portion. For example, the first portion and/or second portion are configured to pivot about at least a first pivot axis. The interface system further comprises a pliable body member attached to the mounting plate and at least partially defining an inner recess. The end effector further comprises a pair of actuators operably connected to the plate and each configured to apply a force to the plate so as to pivot a portion of the mounting plate and deform the pliable body member. The end effector further comprises a vacuum port in fluid communication with the inner recess.

Growing community of inventors

Bedford, MA, United States of America

Beth A Marcus