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Title: US5394766: Robotic human torso
[ Derwent Title ]

Country: US United States of America

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23 pages

Inventor: Johnson, Bruce S.; Burbank, CA
Gurr, Robert H.; Tujunga, CA

Assignee: The Walt Disney Company, Burbank, CA
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Published / Filed: 1995-03-07 / 1993-02-16

Application Number: US1993000017821

IPC Code: Advanced: B25J 9/14; B25J 17/00; F15B 15/12;
Core: F15B 15/00; more...
IPC-7: B25J 9/14; B25J 11/00; B25J 18/00;

ECLA Code: B25J9/14R2; F15B15/12;

U.S. Class: Current: 074/490.01; 040/414; 040/419; 092/122; 092/125; 446/176; 446/330; 446/352; 446/354; 901/001; 901/022;
Original: 074/490.01; 092/122; 092/125; 040/414; 040/419; 446/176; 446/330; 446/352; 446/354; 901/001; 901/022;

Field of Search: 074/469,479 B,479 BE,479 BF,479 R 901/001,22,50 092/002,140,122,125 434/265,266,267,256 040/414,418,419 446/176,197,198,199,330,352,353,354,376,301,383

Priority Number:
1993-02-16  US1993000017821
1992-07-21  US1992000917580

Abstract: A robotic assembly is provided that simulates the size, appearance and movement of a human torso. The torso includes a unique combination of high speed rotary and linear actuators arranged in a geometry that enables anatomically correct human-like movement, and which provides sufficient internal room and mounting surfaces for the actuators and related equipment such as hydraulic or pneumatic lines, electronic control circuits, valves, and audio playback devices. A preferred embodiment of the present invention provides up to nine degrees of freedom. The upper torso includes a pair of rotary arm actuators ("rotacs") for rotating arms up to 200 degrees. The rotacs are pivotally attached to a centrally located mounting structure for up-and-down motion (shoulder shrugging) and for forward-and-back motion (shoulder forward). Movement of each rotac for shrugging and shoulder forward is driven by a pair of linear actuators which are attached between the centrally located mounting structure and the output end of each rotac, with one located at the back (for driving the rotac forward-and-back) and one located above the rotac (for lifting and lowering the output shaft of the rotac). The rotary and linear actuators which move the arms and shoulders can be independently controlled to enable the left arm/shoulder to move independently of the right, or can be ganged together to enable the left and right shoulder/arm to be moved in concert. The lower torso potion of the assembly includes a torso twist rotac which is attached to a base (to which could be connected a leg assembly) such that the output shaft extends vertically upwards. The output shaft of a second rotac is rigidly mounted to the output shaft of the torso twist rotac so that it is held in a substantially horizontal position, thus enabling the housing of the second rotac to rotate about its horizontal output shaft, thus providing a torso sidebend function. The housing of the centrally located mounting structure is pivotally connected to a pair of legs extending away from the housing of the second rotac, and a linear actuator is used to link the centrally located mounting structure to the second rotac-linking the upper and lower torso and providing the torso forebend function.

Attorney, Agent or Firm: Haverstock, Medlen & Carroll ;

Primary / Asst. Examiners: Herrmann, Allan D.;

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Related Applications:
Application Number Filed Patent Pub. Date  Title
US1992000917580 1992-07-21       

Parent Case:     This application is a continuation-in-part of U.S. patent application Ser. No. 07/917,580, filed on Jul. 21, 1992 (now abandoned).

Designated Country: DE ES FR GB IT 

Family: Show 3 known family members

First Claim:
Show all 36 claims
We claim:     1. A robotic torso which simulates the appearance and size of a human torso, having an outer shell and an inner structure comprising:
  • a base; and
  • a first rotary actuator mounted to said base, said rotary actuator having
    • a housing with an inner wall defining a generally cylindrical housing chamber of circular cross section having a longitudinal axis,
    • a unitary, self-lubricating rotor having a hub defining at least one circular arc surface with at least one radially outwardly extending vane extending from said hub and fitting closely within, and adapted to rotate about the axis of said housing chamber,
    • first and second end plates, each attached to said housing,
    • housing chamber dividing means equal in number to the number of said vanes and stationary with respect to said housing and said end plates, and,
    • an output shaft coupled to said rotor and extending through at least one of said end plates.
  • said first rotary actuator oriented on said base so that said output shaft is substantially vertical for rotating the torso to the left and to the right.

Background / Summary: Show background / summary

Drawing Descriptions: Show drawing descriptions

Description: Show description

Forward References: Show 23 U.S. patent(s) that reference this one

U.S. References: Go to Result Set: All U.S. references   |  Forward references (23)   |   Backward references (8)   |   Citation Link

Patent  Pub.Date  Inventor Assignee   Title
Get PDF - 8pp US624799* 1899-05 Haveis    
Get PDF - 6pp US2169380* 1939-08 Barrett    
Get PDF - 9pp US3775900  1973-12 Thorn et al.  Ideal Toy Corporation TOY DOLL
Get PDF - 7pp US4279099  1981-07 Dyer et al.  Mattel, Inc. Figure toy
Get PDF - 7pp US4683773  1987-08 Diamond   Robotic device
Get PDF - 6pp US4723932  1988-02 Kelley et al.  Mattel, Inc. Toy doll having articulated arms and a tiltable upper torso
Get PDF - 15pp US5158492  1992-10 Rudell et al.  Rudell; Elliott A. Light activated doll
Get PDF - 8pp US5176560  1993-01 Wetherell et al.   Dancing doll
  * some details unavailable
Foreign References: None

Other Abstract Info: DERABS G94-027930 DERG95-114340 DERABS G95-114340

Other References:
  • Robots: Fantasies and Realities, Omni Magazine, U.S. vol. 5, No. 7, Omni Pub. Int, New York, New York.

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