Robot

A robot is disclosed. The robot can comprise a body and an emotion-expressing system. The emotion-expressing system can comprise a touch sensor embedded within the body, a feedback generator, and a controller in communication with the touch sensor and the feedback generator. The controller can be configured to determine the emotional state of the robot based on feedback from the touch sensor, and the feedback generator can be configured to generate feedback indicative of the emotional state.

TECHNICAL FIELD

The present disclosure relates to robots having interactive interfaces and systems and methods for using and creating such robots.

BACKGROUND

In at least one embodiment, the present disclosure provides a mechanism and/or system for an interactive robot to detect and infer differences between various kinds of touch.

In at least one embodiment, the present disclosure provides a mechanism and/or system for an interactive robot to generate appropriate affective responses to detected touch inputs.

The foregoing discussion is intended only to illustrate various aspects of certain embodiments disclosed in the present disclosure, and should not be taken as a disavowal of claim scope.

The exemplifications set out herein illustrate various embodiments, in one form, and such exemplifications are not to be construed as limiting the scope of the appended claims in any manner.

DETAILED DESCRIPTION

The present disclosure relates to a novel and unique robot. In various instances, the present disclosure relates to an emotionally-expressive and/or communicative robot. In certain instances, the present disclosure relates to a robot that is touch-sensitive, and can communicate emotions and/or mood with feedback generators. For example, the present disclosure describes an interactive robotic interface that can detect the direction and pressure of touch on the robot's body, and can respond to the nature of this touch through the generation of light, sound, and/or movement.

Referring toFIGS. 1-4, a robot10is depicted. The robot10includes a body12, and can include additional features and/or elements supported on and/or extending from the body12. A transparent or semi-transparent shell18can be positioned around at least a portion of body12. Referring primarily toFIGS. 1-3, the robot10can includes eyes16, which are supported on the shell18. The body12of the robot10depicted inFIGS. 1-4defines a dome-shaped body. The body12can be deformable. For example, the dome-shaped body12can be comprised of a rubber and/or rubber-like material, such as silicone rubber, for example, which can be configured to deform in response to external forces and/or touches, for example.

The reader will further appreciate that the robot10can comprise various different shapes and/or styles. For example, the robot10can comprise a toy, such as the robotic toys disclosed in U.S. Design Pat. No. D714,881, entitled ROBOT, which issued on Oct. 7, 2014; U.S. Design Pat. No. D714,883, entitled ROBOT, which issued on Oct. 7, 2014; and U.S. Design Pat. No. D714,888, entitled ROBOT, which issued on Oct. 7, 2014, which are hereby incorporated by reference herein in their respective entireties. In various instances, the robot10can include additional features, such as additional facial features and/or body parts. Additionally or alternatively, the robot10can include various colors and/or designs. Moreover, the robot10can include additional control mechanisms, such as the various actuation systems disclosed in contemporaneously-filed U.S. patent application Ser. No. 14/568,821, entitled ROBOT, now published as U.S. Patent Application Publication No. 2015-0165336, which is hereby incorporated by reference herein in its entirety.

Referring primarily toFIG. 4, the robot10includes an affective or emotion-expressing system20. In various instances, the emotion-expressing system20can be at least partially embedded and/or encased within the body12. The emotion-expressing expressing system20depicted inFIG. 4includes a touch sensor22, which is positioned in the center of the body12. In various instances, the emotion-expressing system20can include a plurality of touch sensors22. The touch sensor22is configured to detect the pressure, the location and/or the direction, i.e., angle, of externally-applied forces. For example, the touch sensors)22can be embedded within the body12, and can detect forces on various external surfaces of the body12and/or the robot10.

In at least one embodiment, the touch sensor22can be implemented with an OptoForce sensor. For example, the touch sensor22can be an optical sensor, as described in International Patent Application Publication No. WO 2013/072712 A1, entitled SENSOR DEVICE, filed on Nov. 16, 2012, which is hereby incorporated by reference herein in its entirety. The touch sensor22can detect the relative movement of LEDs and/or photosensors embedded and arranged in a cavity defined in a rubber body.

In various instances, an emotion-expressing system can include feedback generators, which can be configured to emit visual, tactile, and/or auditory feedback, for example, based on the forces) detected by the touch sensors)22. For example, an emotion-expressing system can include at least one light, at least one speaker and/or at least one actuator. Referring again to the affective system20depicted inFIG. 20, the system20includes a plurality of lights24, a speaker26, and an actuator28, which can provide multimodal feedback to interactants, e.g., people who interact with the robot10. The speaker26can be positioned on the body12, such as on the bottom and/or underside of the body12, for example.

In various instances, the lights24can be arranged on the body12. For example, an array of lights can be embedded below the surface and/or skin of the body12. As depicted inFIGS. 1-3, the lights24can be arranged in a plurality of columns and/or lines. For example, the lights24can be arranged in a plurality of columns extending downward from the top of the dome-shaped body12. A single light24can be positioned at the top of the dome-shaped body12. In such instances, the lights24can form star-shaped arrangement when viewed from the top seeFIG. 3). The lights24can be symmetrically arranged around the body12, for example. In certain instances, the lights24can be arranged in at least one cluster and/or can be randomly positioned around the body12. In various instances, the lights24can comprise light-emitting diodes LEDs), for example. In certain instances, the lights24can comprise addressable color-controllable LEDs, for example. In at least one embodiment, the lights24can be implemented with WS2812B LEDs.

In certain instances, the actuator28can comprise a vibrator, which can be embedded within the body12of the robot10. For example, the vibrator28can be positioned in the center of the body12. The vibrator28can include a rotary motor with an off-center weight on its shaft, for example. In at least one embodiment, the vibrator28can be implemented with a Precision Microdrives 310-101 motor. Additionally or alternatively, an actuator of the emotion-expressing system20, can include a rotary and/or linear actuator, which can be configured to move and/or deform the body12of the robot10and/or elements thereof in response to touch.

Referring now toFIGS. 4 and 5, the emotion-expressing system20can include a controller30, which can be in communication with the touch sensors)22and the feedback generators24,26, and28. For example, the touch sensors)22can communicate the detected magnitude, direction, and position of the external force to the controller30. Software on a controller30can process data from the sensors)22and provide localized touch feedback. For example, the lights24in the vicinity of the location of an applied force can glow to indicate awareness of the touch. Furthermore, the controller30can integrate the recent history of applied touches to place the robot10in an emotional state that mediates the nature of the expressed feedback. In at least one embodiment, the controller46can be implemented with an Arduino Micro microcontroller board.

Emotional state is defined as a location in a multi-dimensional space with axes representing various characteristics of emotion. In various instances, the emotional state of the robot10can shift with each new touch. Referring toFIG. 6, an emotional state graph32is depicted. The emotional state of the robot10can be defined within the two-dimensional plane of the emotional state graph32. In other instances, the emotional state can be defined by three or more dimensions.

Touches detected by the touch sensor22can shift and/or update the position of the robot's10emotional state on the emotional state graph32. Referring still toFIG. 6, an axis on the graph32corresponds to valence, which can refer to the favorableness of the touch. The valence spectrum can include positive touches in region42and negative touches in region44. A neutral region or point40can be intermediate the position region42and the negative region44. The other axis on the graph32corresponds to arousal, which refers to the level of activity. The arousal spectrum can increase from no arousal to heightened arousal. Emotional modeling based on valence and arousal is further described in “Designing Sociable Robots” by Cynthia L. Breazeal, MIT Press 2004), which is hereby incorporated by reference herein in its entirety.

The sensor22can be configured to detect the force applied to the robot10. For example, the sensor22can determine whether the detected force is associated with a light, gentle touch or a hard, abrupt touch. In various instances, the detected force of the touch can correspond to valence. For example, lighter touches, such as a gentle stroke, for example, can correspond to a positive valence value in region42of the graph32. Moreover, harder touches, such as an abrupt punch, for example, can correspond to a negative valence value in region44of the graph32.

In certain instances, the sensor22in combination with the controller30can be configured to detect the frequency and/or timing of touches. For example, the controller30can store and/or access information regarding previous touches and can determine if the detected touches are associated with constant pressure or a sequence of touches, such as pokes, for example. In various instances, the frequency and/or timing of the touches can correspond to arousal. For example, constant pressure can correspond to a lower arousal level while a sequence of touches can correspond to a heightened arousal level.

The combination of valence and arousal can determine the emotional state of the robot10. For example, when the robot10is highly aroused by positive valence touches, e.g., frequent, low-pressure pokes, the emotional state of the robot10can be joyful as depicted in the upper, right corner of the graph32inFIG. 6. Referring still toFIG. 6, when the robot10is highly aroused by negative touches, e.g., frequent, high-pressure pokes, the emotional state of the robot10can be angry. If the arousal level of the robot10is low but the touches are positive, e.g., infrequent, low-pressure touches, the emotional state of the robot10can be calm and content, as depicted in the lower, right corner of graph32inFIG. 6. Referring still toFIG. 6, if the arousal level is low and the touches are strong and/or hurtful, e.g., infrequent, high-pressure touches, the emotional state of the robot10can be sad.

The controller30can be configured to adjust the emotional state of the robot10based on the detected touches. For example, negative touches can shift the robot's10emotional state toward, into, and/or further into the negative region44and away from and/or out of the positive region42. Positive touches can shift the robot's10emotional state toward, into, and/or further into the positive region42and away from and/or out of the negative region44. Moreover, the change in emotional state can be greater when the arousal level is higher, and can be less when the arousal level is lower.

The feedback generators24,26, and28of the emotion-expressing system20can display qualities reflective and/or expressive of the emotion state and/or changes thereto. For example, harder touches can be configured to shift the robot toward a “negative” emotional state, while repetitive soft touches might place the robot in a “positive” emotional state. Referring again toFIG. 6, the robot10can be in a first emotional state at location46on the emotional state graph32. If the sensor22of the emotion-expressing system20detects a strong, negative touch, the robot's10emotional state can shift to location48, for example.

In various embodiments, touch can be applied to various points on the body12of the robot10. The touch can be recognized by the sensors)22described herein. Information about the pressure and direction of the applied forces can be continuously and/or repeatedly sent to the controllers)30. In various instances, the controller30can estimate the location on the body12from which the externally-applied touch would have produced the sensed force. The controller30can feed the information regarding the location, magnitude, and/or direction of the force to an algorithm and/or software package, which can adjust the emotional state of the robot10based on the touch. Moreover, the controller can direct the feedback generators24,26, and/or28to communicate the updated emotional state.

The color, intensity, and spatiotemporal growth of the patterns can be determined by the emotional state. In one embodiment, the pressure of touch inversely influences the valence component of the emotional state, for example, and the quantity or frequency of touch influences the arousal component of the emotional state, for example. For example, the controller30can initiate visual patterns to be displayed on the lights24below the surface of the body12, with an appropriate mapping between the address of each light24and its location on the body12. The starting location of the patterns can determined by the most recent location of touch, for example. In certain instances, a touch of a short duration, such as a poke, for example, can result in a shockwave of illuminated lights24from the point of contact. Additionally or alternatively, consistent pressure at a point of contact can result in light in the specific region, which can expand during the duration of the touch.

In certain instances, the color, intensity, and/or duration of the lights24can suggest the emotional state of the robot10. The controller30can direct the lights to be illuminated in a series of light-emitting patterns indicative of the emotion state. For example, the controller30can be configured to adjust the color, movement, and pace of the lights. In certain instances, in response to a harder touch, such as a punch, for example, the controller30can direct the lights24to light up with a color suggestive of pain, such as red hues, for example. Moreover, in response to soft, repetitive touches, such as light strokes, for example, the controller30can direct the lights24to light up with a color suggestive of comfort, such as blue hues, for example.

In certain instances, the color of the lights24can correspond to the mood of the robot10. For example, a different color and/or series of colors can correspond to the four mood quadrants shown inFIG. 6, i.e., calm/content, sad, angry, and joyful. In various instances, the color blue can correspond to calmness and contentment. For example, when the robot10is calm and content, the lights24can pulse a shade of blue at a slow and steady rate. Purple, for example, can signify gloom and darkness and thus, be associated with sadness. For example, when the robot10is sad, the lights24can pulse a purple hue slowly and inconsistently. In certain instances, red can be associated with anger to signify alarm and/or to communicate “stop”. When the robot10is angry, the lights24can pulse a red hue rapidly and inconsistently. In various instances, the joyful state of the robot10can correspond to the color yellow, which is associated with happiness and energy. When the robot10is joyful, the lights24can be configured to pulse a yellow hue at a frequent and steady rate. In certain instances, the robot10can be configured to generate a pattern of fast-paced, rainbow-colored lights when the pinnacle of extreme joyfulness is experienced.

In various instances, the sounds produced by the speaker26can be generated from simple sound blocks, such as sinusoids and/or pre-recorded waveforms, for example. The sounds can be modulated and/or repeated according to the emotional state of the robot10. In one embodiment, the slope of the overall prosodic or pitch envelope can be determined by the valence component, for example, and the frequency and quantity of sound blocks can be determined by the arousal component of the emotional state. For example, the pitch of sounds from the speaker26can move through a sequence from a low pitch to a high pitch as the valence shifts from the neutral position40to an increasingly positive valence level in region42. Additionally, the pitch of sounds from the speaker26can move through a sequence from a low pitch to a high pitch as the valence shifts from the neutral position40to an increasingly negative valence level in region44. Additionally, the output frequency of sounds from the speaker26can increase and the duration of sounds from the speaker can decrease as the robot10becomes more aroused, for example, and the output frequency of sounds from the speaker26can decrease and the duration of sounds from the speaker can increase as the robot10arousal level decreases, for example.

The actuator28can also be in communication with the controller30and can respond to the emotional state of the robot10. For example, the actuator28can be actuated when the sensor22detects a touch, and the intensity of the vibrations and/or movements can be controlled by pulse-width-modulation PWM) according to the detected pressure applied to the body12.

While the present disclosure has been described as having certain designs, the various disclosed embodiments may be further modified within the scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the disclosed embodiments using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the relevant art.