Abstract:
A robotic apparatus that interacts with a user and a personal computer (PC) receives inputs from a user and from the PC and reacts and interacts. The interactive apparatus includes a USB interface with the PC to receive power and data such as key strokes, key combinations, email notifications, and web cam events, for example. The interactive apparatus also includes microphones and a phototransistor to detect sounds and movement. The interactive apparatus includes an eye assembly attached to a body and leg, which is responsive to inputs and interactions with the user and PC.

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of application Ser. No. 61/583,971, filed Jan. 6, 2012, entitled INTERACTIVE APPARATUS. 
     The present invention relates to an interactive personal robotic apparatus and, more particularly, to an interactive robotic apparatus interfaced with a personal computer. 
    
    
     BACKGROUND 
     Various personal robots are well known. Personal robots that display pre-determined movements are also known. Conventional personal robots are typically battery powered and move in predictable ways, and do not positively interact with the user or exhibit a personality. This limits their use and utility. 
     SUMMARY 
     The present invention provides a robotic apparatus that interacts with a user and a personal computer (PC). The interactive apparatus receives inputs from the user and from the PC and reacts and interacts. The interactive apparatus includes a USB interface with the PC to receive power and data such as key strokes, key combinations, email notifications, and web cam events, for example. The interactive apparatus also includes microphones and a phototransistor to detect sounds and movement. The interactive apparatus includes an eye assembly attached to a body and leg, which is responsive to inputs and interactions with the user and PC. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a front elevational view of an interactive apparatus of the present invention. 
         FIG. 2  is a right side view of the interactive apparatus of  FIG. 1 . 
         FIG. 3  is a left side view of the interactive apparatus of  FIG. 1 . 
         FIG. 4  is a back view of the interactive apparatus of  FIG. 1 . 
         FIG. 5  is a top view of the interactive apparatus of  FIG. 1 . 
         FIG. 6  is a bottom view of the interactive apparatus of  FIG. 1 . 
         FIG. 7  is a perspective view of the interactive apparatus of  FIG. 1 . 
         FIG. 8  is a partial exploded perspective view of the interactive apparatus of  FIG. 1 . 
         FIG. 9  is an exploded perspective view from right to left of the interactive apparatus of  FIG. 1 . 
         FIG. 9A  is an enlarged exploded perspective view of the eye assembly of  FIG. 9 . 
         FIG. 9B  is an enlarged exploded perspective view of the body assembly of  FIG. 9 . 
         FIG. 9C  is an enlarged exploded perspective view of the leg assembly of  FIG. 9 . 
         FIG. 9D  is an enlarged exploded perspective view of the base assembly of  FIG. 9 . 
         FIG. 9E  is an enlarged exploded perspective view of the foot assembly of  FIG. 9 . 
         FIG. 10  is a functional block diagram of the control components of the interactive apparatus. 
     
    
    
     DETAILED DESCRIPTION 
     As required, detailed embodiments of the present invention are disclosed herein. However, it is to be understood that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for the claims and/or as a representative basis for teaching one skilled in the art to variously employ the present invention. 
     Moreover, except where otherwise expressly indicated, all numerical quantities in this description and in the claims are to be understood as modified by the word “about” in describing the broader scope of this invention. Practice within the numerical limits stated is generally preferred. Also, unless expressly stated to the contrary, the description of a group or class of materials as suitable or preferred for a given purpose in connection with the invention implies that mixtures or combinations of any two or more members of the group or class may be equally suitable or preferred. 
     Referring to the figures, an interactive apparatus of the present invention is generally indicated by reference numeral  20 . The interactive apparatus  20  includes a base assembly  22 , a foot assembly  24 , which may be circular as shown, a leg  26 , a knee  28 , a body assembly  30 , an eye assembly  32  and an eyelid  34 . The eye assembly  32  is rotationally coupled to the body assembly  30 , which may be pivotably coupled to the leg assembly  26  at the knee  28  thereby permitting movements about a rotational axis  29 . The leg assembly  26  is pivotably coupled to the foot assembly  24  for rotation about a rotational axis  31 . 
     Referring to  FIGS. 8 and 9 , the eye assembly  32  includes a lens  36  and a lens mounting plate  38  fastened to mounting posts  40  secured to a back or cap  42  of the eye assembly  32 . An eyelid drive motor  44  is coupled to eyelid actuation gears  46 , which are coupled to the eyelid  34  and mounted to the back of the eye  42 . An eyelid position sensor  48  coupled to the eyelid drive shaft  50  measures the rotational position of the eyelid  34  around an eyelid axis of rotation  52 . A lower eye cover  54  is fastened to the back of the eye  42  and covers the lower edge of the lens  36 . The lower eye cover  54  is fastened to a pivot plate  56 , which is rotationally coupled to the body assembly  30 , to connect the eye assembly  32  to the body assembly  30 . 
     The body assembly  30  includes a housing  58  with left  60  and right  62  halves, which are fastened together. An eye assembly drive motor  64  is coupled to an eye assembly gear box  66  and mounted to the left half  60  of the housing  58 . An eye assembly drive shaft  68  is coupled to the pivot plate  56  to pivot the eye assembly  32  back and forth. An eye assembly position sensor  70  is also coupled to the eye assembly drive shaft  68  and measures the rotational position of the eye assembly  32  about an axis of rotation  72 . 
     The body assembly  30  is pivotally coupled to the leg assembly  26  at the knee  28 . The leg assembly  26  includes a leg housing  74  with left  76  and right  78  halves fastened together. A body assembly drive motor  80  is mounted in the left half  76  of the leg housing  74 . A spindle gear  82  coupled to a drive shaft  84  of the body assembly drive motor  80  engages a crown gear  86 . A body assembly drive shaft  88  coupled to the crown gear  86  passes through an aperture  90  in an upper end  92  of the right half  78  of the leg assembly housing  74  and engages a slot  94  in a lower end  96  of the right half  62  of the body assembly housing  58 . 
     The crown gear  86  is also coupled to spindle gears  98 , which are coupled to a body assembly position sensor  100  and measures the rotational position of the body assembly  30 . 
     The leg assembly  26  is pivotally coupled to the foot assembly  24  at a lower end  102  of the leg assembly housing  74 . A leg assembly drive motor  104  is mounted in a foot gear box  106 . A worm gear  108  coupled to a drive shaft  110  of the leg assembly drive motor  104  engages leg assembly drive gears  112 , which are coupled to a leg assembly drive shaft  114 . The drive shaft  114  passes through an aperture  116  in the foot gear box  106  to engage a slotted aperture  120  in the lower end  102  of the leg assembly  26 . The foot gear box  106  is mounted to a foot pad  118 . The lower end  102  of the leg assembly  26  is pivotally coupled to the foot pad  118  by left  122  and right  124  bearings, which engage slots  126  and  128 , respectively. The foot assembly  24  also includes a USB port  130 , a head phone jack  132 , and a photo transistor  134 . A base plate  119  covers the bottom of the foot pad  118 . 
     The base assembly  22  includes a shell  135 , a pair of speakers  136  and  138 , speaker mounts  137  and  139  mounted behind speaker grills  140  and  142 , respectively. Additionally, left  144  and right  146  microphones are mounted on each side of the base  22 . 
     Referring to FIGS.  10  and  8 - 9 , a control circuit, generally indicated by reference numeral  150 , is mounted to the foot assembly  24 . The control circuit  150  includes a microprocessor control unit (“MCU”)  152  and an internal memory  154 . The MCU  152  receives power and other inputs from a personal computer  156  connected via a USB cable  158  to the USB port  130 . The MCU  152  receives input from the photo transducer  134 , microphones  144  and  146 , and from the servos  44 ,  64 ,  80  and  104 , as well as position sensors  48 ,  70  and  100 . Input from the left  144  and right  146  microphones permit the MCU  152  to determine the direction/position of the received sound to actuate the servos in response thereto. Input from the photo transistor  134  permits the MCU  152  to detect movement to wake up the apparatus  20 , for example, in response to the presence of a user. A webcam  161  may be mounted to lens mounting plate  38  behind lens  36  and coupled to MCU  152 . 
     The interactive apparatus  20  receives user interactions or PC  156  via the USB port  130 . Based on PC outputs or external inputs, the interactive apparatus  20  may perform motion animations as well as audio output and activation of an LED  160  for a visual output. LED  160  may be a single LED or multiple LEDs such as a RGB LED. Activities which may trigger interactive apparatus  20  responses may include mouse cursor movements, keyboard inputs, email events, PC audio output, user movements, activation of a webcam, or voice prompts, for example. 
     When the PC  156  is shut down, the interactive apparatus  20  may shut down as well. The MCU  152  sends a signal to the eyelid servo  44  to rotate the eyelid  34  to a closed position covering the lens  36 . The MCU  152  sends a signal to the body actuator  80  and the leg actuator  104  to rotate forward and back, respectively, to move the interactive apparatus  20  into a folded “resting” or “sleeping” position. When the PC  156  is in a stand by or power save mode, USB power is still available to the MCU  152 . The MCU  152  may send signals to the servos to perform “rest” or “daydream” animations, such as a slow turn of the eye  32 , movement of the body  30  and leg  26  and slow blink of the eyelid  34 , for example. While in a “rest” mode, the interactive apparatus  20  may make responsive animations to a loud sound or movement detected by the photo transistor  134 , for example. 
     When the PC  156  is turned on and power from the USB  158  is applied to the MCU  152 , the interactive apparatus  20  may exhibit a wake up animation, such as stretching by extending the body  30  and leg  26 , and blinking slowly and widely, by slowly activating the eyelid servo  44  and slowly looking around by actuating the eye assembly servo  64 , making an associated “wake up” sound, and activating the LED  160 . 
     When input is detected by the MCU  152  from the USB port  158 , the interactive apparatus  20  may exhibit various “companion” mode animations and responses. For example, when an email is received, the interactive apparatus may perform an alert animation such as moving up and down quickly by simultaneously actuating the leg servo  104  and body servo  80 . 
     When certain predefined or programmed words are typed via the keyboard and received by the MCU  152  via the USB port  158 , specific animations, activation of the speakers  136  and  138  to output associated sounds, and/or activation of the LED  160  may be performed. 
     For example, when a user has typed words such as “good,” alive,” “native,” “social,” “lucky,” “excellent,” “wonderful,” “perfect,” “right,” “correct,” “classy” or “elegant,” a “good” animation may be played, such as moving the body  30  quickly forward twice. 
     When the user has typed words such as “bad,” “abuse,” “hate,” “rage,” “cheap,” “dangerous,” “serious,” “risky,” “hazardous” or “unsafe,” a “bad” animation may be played, such as closing the eye  32 , and moving the body  30  forward and down to a low position, for example. 
     When the user has typed words such as “happy,” “joyful,” delighted,” “merry,” “joyous,” “glad,” and “pleased,” a “happy” animation such as moving the body  30  quickly forward and backward, and up and down, may be played. 
     When the user has typed words such as “sad,” “alone,” abject,” “grief,” “hopeless,” “sorry,” “single,” “pity,” “poor,” “joyless,” “woeful,” “depressed,” “tearful” or “sorrowful,” for example, a “sad” animation may be played such as bending the body  30  and leg  26  backward slowly and then bend forward quickly, and repeating one or more times. 
     When the user has typed a word such as “angry,” “rage,” “paddy,” “mad,” “wrathful” or “raging,” an “angry” animation such as bending the body  30  and leg  26  backward slowly and then forward quickly, may be played, and repeated one or more times. 
     When the user has typed a word such as “excited,” “heartfelt,” “cordial,” “heated” or “crazy,” an “excited” animation such as turning the eye  32  quickly and then blinking, may be played. 
     When the user has typed a word “dislike,” “hated,” “disdain,” despised,” “loathe” or “scornful,” a “dislike” animation by be played such as bending the body  30  backward, opening the eye  32  open slightly and then turning the eye  32  very quickly, for example. 
     When the user has typed a word such as “liked,” “loved,” “nuts,” “favor” or “enjoy,” a “liked” animation may be played such as turning and blinking the eye  32  quickly. 
     When the user has typed a word such as “sweet,” “naughty,” “lovely,” “cute,” “likeable” or “smart,” a “sweet” animation may be played such as turning the eye  32  left slowly and then closing the eye  32  very slowly, for example. 
     When the user has typed a word such as “sure,” “obvious,” “resolved,” “trusty,” “yes” or “reliable,” a “sure” animation may be played such as moving the body  30  left and upright and then blinking the eye  32  twice slowly, for example. 
     When the user has typed a word such as “negative” or “passive,” a “negative” animation may be played such as bending the body  30  backward, opening the eye  32  slightly and then turning the eye  32  slowly, for example. 
     When the user has typed a word such as “hungry,” a “hungry” animation may be played such as turning the eye  32  left and right slowly and then blinking. 
     When the user has typed a word such as “eat,” an “eat” animation may be played such as half opening the eye  32  and then blinking very slowly, for example. 
     When the user has typed a word such as “scared,” “agape,” “horror,” “panic,” “fearful,” “awful,” “terrible,” “awesome,” “terrified” or “gazed,” a “scared” animation may be played such as closing the eye  32 , moving the leg  26  and body  30  to a low position. 
     When the user has typed a word such as “laugh” or “absurd,” a “laugh” animation may be played such as moving the body  30  forward and backward in small increments of movement, for example. 
     When the user has typed a word such as “cry,” “afraid,” shout” or “yell,” a “cry” animation may be played such as bending the body  30  forward, turning the eye  32  left and right and then half opening the eye  32 . 
     When the user has typed a word such as “alert,” “suspicious,” “doubted” or “puzzled,” an “alert” animation may be played such as turning the eye left and right quickly and then stopping at the left side, for example. 
     When the user has typed a word such as “sick,” “old,” “lousy,” “diseased” or “unsound,” a “sick” animation may be played such as turning the eye  32  left and right very quickly and then opening the eye  32  slightly, for example. 
     When the user has typed a word such as “nasty,” “messy” or “rude,” a “nasty” animation may be played such as closing the eye  32  and then turning the eye  32  left and right very quickly, for example. 
     When user has typed a word such as “easy,” “pure,” “relaxed,” “refined,” “cozy,” “easeful,” “comfortable” or “homelike,” an “easy” animation may be played such as bending the body  30  backward and then closing the eye  32  slowly. 
     When the user has typed a word such as “curious” or “question,” a “curious” animation may be played such as turning the eye  32  to the left, to the right and then back to the center again. 
     When the user has typed a word such as “kind,” “nice,” “affable,” “merciful,” “friendly,” “softhearted,” “brotherly” or “genial,” a “kind” animation may be played such as bending the body backward, and turning the eye  32  left and right and then blinking, for example. 
     When the user has typed a word such as “sexy” or “fair,” a “sexy” animation may be played such as turning the eye  32  right or left and then blinking, for example. 
     When the user has typed a word such as “manly,” a “manly” animation may be played such as turning the eye  32  left and right slowly and then return to the center position very quickly, for example. 
     When the user has typed a word such as “shy” or “ashamed,” a “shy” animation may be played such bending the body  30  and leg  26  forward completely, and blinking the eye  32  slowly. 
     When the user has typed a word such as “dog,” a dog-like animation may be played such as bending the body  30  and leg  26  backward and then bending the body  30  forward and backward in sync with a dog sound generated by the MCU  152  and output on speakers  136  and  138 . 
     When the user has typed a word such as “pig,” a pig-like animation may be played such as bending the body  30  and leg  26  backward, and closing the eye  32  slowly, and then bending the body  30  forward and backward in sync with a pig sound generated by the MCU  152  and output on speakers  136  and  138 . 
     When the user has typed a word such as “cat,” a cat-like animation may be played such as bending the body  30  and leg  26  backward, then bending the body  30  forward slightly, and then turning the eye  32  left and right, for example. 
     When a web cam is being used, the MCU  152  will actuate the eye assembly servo  64  to turn to the direction of the speaker&#39;s voice using input from the microphones  144  and  146 , for example. 
     When music is detected by the MCU  152 , the MCU  152  will actuate servos  44 ,  66 ,  80  and  104  to perform a dancing animation in sync with the beat of the music, for example. Other sound input from the microphones  144  and  146  as detected by the MCU  152  may produce additional animations. One animation is body and leg upright, eye closed slowly and then head rotate. Another animation is body and leg upright, eye closed slowly and then head rotate so as body bend forward for two times. 
     It is to be understood that while certain forms of this invention have been illustrated and described, it is not limited thereto, except in so far as such limitations are included in the following claims and allowable equivalents thereof.