Robot having soft outer skin

{
  "publication_number": "US11612825B2",
  "country": "US",
  "kind": "B2",
  "title": "Robot having soft outer skin",
  "abstract": "A robot of one aspect includes a soft outer skin mounted so as to cover a first region (for example, a head portion) and a second region (for example, a trunk portion). The outer skin includes a base material having elasticity. Increased elasticity regions are provided between regions in contact with each of the first region and the second region in the base material (for example, between a head portion contact region and an abdominal portion contact region, or between the head portion contact region and a back portion contact region), and have an elasticity greater than that of the contact regions.",
  "claims": [
    "1. A robot comprising: a first region; a second region, wherein the second region is different from the first region, the second region is displaceable with respect to the first region, the first region is a trunk portion, and the second region is a head portion; and an outer skin covering the first region and the second region, wherein the outer skin comprises: a flap configured to cover a front of the first region or a rear of the first region, a base elasticity area having elasticity, wherein the base elasticity area at least partially covers each of the first region and the second region, the base elasticity area comprises a porous foam material having pores, a first portion of the base elasticity area is in the flap, and a second portion of the base elasticity area is over the second region, and a second elasticity area, wherein the second elasticity area has a higher elasticity than the base elasticity area and defines an increased elasticity region, the second elasticity area comprises an aperture larger than the pores of the porous foam material, the aperture extends through an entirety of the second elasticity area in a thickness direction, and the second elasticity area is between the first portion of the base elasticity area and the second portion of the base elasticity area.",
    "2. The robot according to claim 1, wherein the outer skin is in close contact with each of the first region and the second region at a position separated from the increased elasticity region.",
    "3. The robot according to claim 1, wherein the outer skin is fixed to each of the first region and the second region at a position separated from the increased elasticity region.",
    "4. The robot according to claim 1, wherein the aperture comprises a plurality of holes or cuts penetrating the second elasticity area.",
    "5. The robot according to claim 1, wherein the aperture comprises at least one radial cut in the second elasticity area.",
    "6. The robot according to claim 5, wherein the aperture further comprises a circular hole penetrating a leading end portion of the corresponding at least one radial cut.",
    "7. The robot according to claim 1, wherein the aperture comprises a cross-form or a Y-form cut.",
    "8. The robot according to claim 1, wherein the outer skin further comprises a cover sheet covering the base elasticity area.",
    "9. The robot according to claim 1, wherein the outer skin further comprises a second flap, wherein the flap is configured to cover the front of the first region, and the second flap is configured to cover the rear of the first region.",
    "10. The robot according to claim 1, wherein the base elasticity area is integral with the second elasticity area.",
    "11. The robot according to claim 1, wherein the second elasticity area comprises the porous foam material.",
    "12. An outer skin comprising: a base elasticity area, wherein the base elasticity area has a first elasticity, the base elasticity area has a porous foam material comprising pores, and the base elasticity area comprises: a first portion configured to at least partially cover a first region of a robot, and a second portion configured to at least partially cover a second region of the robot, wherein the first region is a trunk portion, and the second region is a head portion; and a flap configured to cover a front of the first region or a rear of the first region, wherein the first portion of the base elasticity area is in the flap, and the second portion of the base elasticity area is over the second region; a second elasticity area, wherein the second elasticity area has a second elasticity greater than the first elasticity, the second elasticity area has an aperture larger than pores of the porous foam material, and the aperture extends through an entirety of the second elasticity area in a thickness direction, and the second elasticity area is between the first portion of the base elasticity area and the second portion of the base elasticity area.",
    "13. The outer skin according to claim 12, wherein the aperture comprises a plurality of holes or cuts.",
    "14. The outer skin according to claim 12, wherein the aperture is a plurality of apertures, and each of the plurality of apertures comprises at least one radial cut in the second elasticity area.",
    "15. The outer skin according to claim 14, wherein each of the plurality of apertures comprises a circular hole penetrating a leading end portion of the corresponding at least one radial cut.",
    "16. The outer skin according to claim 12, wherein the aperture comprises a cross-form or a Y-form cut.",
    "17. The outer skin according to claim 12, wherein the outer skin further comprises a cover sheet covering the base elasticity area.",
    "18. The outer skin according to claim 12, wherein the base elasticity area is integral with the second elasticity area.",
    "19. The outer skin according to claim 12, wherein the second elasticity area is continuous with the base elasticity area.",
    "20. A robot comprising: a first region, wherein the first region comprises a recess; a second region, wherein the second region is different from the first region, the second region is displaceable with respect to the first region, the first region is a trunk portion, and the second region is a head portion; and an outer skin covering the first region and the second region, wherein the outer skin comprises: a base elasticity area having elasticity, wherein the base elasticity area at least partially covers each of the first region and the second region, and the base elasticity area comprises a porous foam material having pores, a flap configured to cover a front of the first region or a rear of the first region, wherein a first portion of the base elasticity area is in the flap, and a second portion of the base elasticity area is over the second region, a second elasticity area, wherein the second elasticity area is integral with the base elasticity area, the second elasticity area has a higher elasticity than the base elasticity area, the second elasticity area comprises an aperture larger than the pores of the porous foam material, the aperture extends through an entirety of the second elasticity area in a thickness direction, and the second elasticity area is between the first portion of the base elasticity area and the second portion of the base elasticity area, and a fitting member connected to the base elasticity area, wherein the recess is configured to receive the fitting member.",
    "21. The robot according to claim 20, wherein the recess is defined by a plurality of ribs protruding from the first region.",
    "22. The robot according to claim 20, wherein the second elasticity area comprises the porous foam material."
  ],
  "description_excerpt": "The present invention relates to an outer skin covering a robot, and to an attachment structure thereof.\n\nThere have been advances in development of an autonomously acting robot, such as a humanoid robot or a pet robot, that provides interaction and solace for a human (for example, refer to Patent Document 1). This kind of robot is expected to cause behavior to evolve by learning autonomously based on a peripheral situation, and attain an existence close to that of a living being. In the near future, a robot might provide a user with the kind of solace evoked by a pet.\n\nPatent Document 1: JP-A-2000-323219\n\nWhen causing a robot to seem like a living being, a tactile sensation thereof is important. Being an existence such that a user involuntarily wishes to touch encourages physical closeness from the user, and causes the user to feel affection such as that felt toward a pet. In order to realize this kind of tactile sensation, covering a robot with an outer skin is conceivable. When the outer skin is like a costume, however, this causes an oddity to occur in an external appearance, such as an unnatural wrinkle occurring in accompaniment to an operation of the robot. Because of this, the outer skin is preferably caused to fit an outer face of the robot closely, but when so doing, the outer skin may be a factor in impeding movement of the robot.\n\nThe invention having been completed based on a recognition of the heretofore described problem, one object thereof is to provide an outer skin structure appropriate for a robot.",
  "cpc": [
    "A63H 3/52",
    "A63H 11/00",
    "A63H 3/00",
    "B25J 19/00"
  ],
  "ipc": [
    "A63H 11/00",
    "A63H 3/52"
  ],
  "assignees": [
    "Groove X Inc"
  ],
  "inventors": [
    "Kaname HAYASHI",
    "Minoru Koizumi"
  ],
  "filing_date": "2019-10-07",
  "publication_date": "2023-03-28",
  "grant_date": "2023-03-28",
  "priority_date": "2017-04-10",
  "application_number": "US-201916594108-A",
  "family_id": "63793414",
  "cited_by_count": 1,
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}