US20090104843A1

US20090104843A1 - Position controlling mechanism and apparatus for controlling eye movement using the same

Info

Publication number: US20090104843A1
Application number: US11/952,792
Authority: US
Inventors: Chia-Chun Chu; Jian-Zhi Li
Original assignee: Industrial Technology Research Institute ITRI
Current assignee: Industrial Technology Research Institute ITRI
Priority date: 2007-10-19
Filing date: 2007-12-07
Publication date: 2009-04-23
Also published as: TW200918143A; TWI345996B

Abstract

A position controlling mechanism is provided in the present invention, which comprises a plurality of bar linkage with multiple degrees of freedom (DOF) for controlling a specific position of the bar linkage to move arbitrarily on a curved surface according the input movement of the bar linkage of the position controlling mechanism. Meanwhile, an apparatus for controlling eye movement is also provided by combing the position controlling mechanism and an eyeball assembly arranged on the specific position of the bar linkage. By means of the position controlling mechanism, the eyeball assembly can be moved toward any direction so as to increase the diversity of the facial expression of a doll.

Description

FIELD OF THE INVENTION

The present invention relates to a linkage mechanism, and more particularly, to a position controlling mechanism using a linkage mechanism composed of a plurality of bar members to direct a specific object to move about a specific curved trajectory and thus capable of being adapted for an eye movement control apparatus.

BACKGROUND OF THE INVENTION

In our modern society, the overwhelming majority of people are used to lived in a stressful lifestyle, i.e. long working hours, less time for exercise, leisure and relaxation and our increasing reliance on television and the internet. Stress is our body's reaction to events that can affect all of us at one point or another. It had been proven in many researches that mental stress can increase the risk of physical disorders such as heart disease, high blood pressure, etc. There are already many methods or products currently available on the market that are designed for stress relief. It is known that doll can be an effective tool in helping people deal with stress.
There are many kinds of dolls on the market, but most of them have limited interactive ability. That is, they are either being designed with a stiff facial expression, or being programmed to respond with only a handful of facial expressions. In most dolls currently available on the market, the changing of their facial expressions usually are achieved by eye movements. Thus, many studies had focused their efforts on eye movement control for hoping to enable a doll to have more lifelike facial expressions and thus enhance its interactive ability.
One such study is a tri-axial control mechanism, disclosed in TW Pat. Pub. No. 200527105, which is a mechanism capable of control a camera to move in three degrees of freedom, simulating movements of a human eye. Please refer to FIG. 1, which shows a tri-axial control mechanism disclosed in TW Pat. Pub. No. 200527105. In FIG. 1, the control mechanism 1 is substantially a plate 10 having three linkages 11, 12, 13 mounted thereon while enabling any neighboring linkages of the three linkages 11, 12, 13 to coupled with each other. Moreover, all the three linkages 11, 12, 13 are respectively connected to a carrier 14 by an end thereof in a manner that the orientation of the carrier 14 can be adjusted by the three linkages 11, 12, 13, and thus, as the carrier is used for holding a camera, the viewing angle of the camera can be controlled accordingly.
Another such study is an eye movement method disclosed in U.S. Pat. No. 6,537,128, entitled “Interactive Toy”, by which the moving of eyeballs of a doll is driven by a rotating cam assembly. More particularly, the centers of the two eyeballs are fixed to a control bar for synchronizing the cyclical actions thereof. By the aforesaid method, the overall eye movements can only provide the doll with seven different expressions.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a position controlling mechanism capable of using a linkage mechanism with multiple degrees of freedom, composed of a plurality of bar members and driven by a driving unit of various power output configurations, to direct a specific object to move arbitrarily about a specific curved trajectory on a curved surface.
It is another object of the invention to provide a position controlling mechanism capable of using a linkage mechanism with multiple degrees of freedom, composed of a plurality of bar members and driven by a driving unit of various power output configurations, to direct an apparatus to move arbitrarily about a specific curved trajectory on a curved surface.
Yet, another object of the invention is to provide an eye movement control apparatus, capable of using a linkage mechanism with multiple degrees of freedom to control eyes of a doll to move in various directions and thus providing the doll with a variety of lifelike facial expressions.
To achieve the above objects, the present invention provides a position controlling mechanism, comprising: a pair of input rods, each coupled to a driving unit by an end thereof for receiving a power output of the driving unit to move accordingly; a first output rod, coupled to one of the two input rods by an end thereof; and a second output rod, connected to the first output rod by an end thereof while connecting to another input rod not coupled to the first output rod by another end thereof.
In an exemplary embodiment of the invention, the present invention provides an eye movement control apparatus, comprising: a pair of input rods, each coupled to a driving unit by an end thereof for receiving a power output of the driving unit to move accordingly; a first output rod, coupled to one of the two input rods by an end thereof; a second output rod, connected to the first output rod by an end thereof while connecting to another input rod not coupled to the first output rod by another end thereof; and an eyeball assembly, mounted at a position corresponding to the connection of the first and the second output rods in a manner that that the eyeball assembly is driven to move on a curved surface in respond to the moving of the paired input rods.
Further scope of applicability of the present application will become more apparent from the detailed description given hereinafter. However, it should be understood that the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will become more fully understood from the detailed description given herein below and the accompanying drawings which are given by way of illustration only, and thus are not limitative of the present invention and wherein:

FIG. 1 shows a tri-axial control mechanism disclosed in TW Pat. Pub. No. 200527105.

FIG. 2A is a three dimensional view of a position controlling mechanism according to an exemplary embodiment of the invention.

FIG. 2B is partial side view of FIG. 2A.

FIG. 2C is a schematic diagram showing the coupling of two input rods in a position controlling mechanism according to an exemplary embodiment of the invention.

FIG. 2D is a schematic diagram showing the coupling of an input rod and an output rod in a position controlling mechanism according to an exemplary embodiment of the invention.

FIG. 3A is a schematic diagram showing the coupling of two input rods to a driving motor in a position controlling mechanism according to an exemplary embodiment of the invention.

FIG. 3B is a schematic diagram showing the coupling of two input rods to a driving motor in a position controlling mechanism according to another exemplary embodiment of the invention.

FIG. 4 is a schematic diagram showing the coupling of two input rods in a position controlling mechanism according to another exemplary embodiment of the invention.

FIG. 5 is a schematic diagram showing the coupling of two input rods in a position controlling mechanism according to yet another exemplary embodiment of the invention.

FIG. 6 is a schematic diagram showing the coupling of two input rods in a position controlling mechanism according to further another exemplary embodiment of the invention.

FIG. 7 shows curved trajectories on a curved surface defined by the positions corresponding to the connection of the first and the second output rods in respond to the moving of the paired input rods.

FIG. 8 is a three dimensional view of a position controlling mechanism according to another exemplary embodiment of the invention.

FIG. 9 is a three dimensional view of an eye movement control apparatus according to an exemplary embodiment of the invention.

DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

For your esteemed members of reviewing committee to further understand and recognize the fulfilled functions and structural characteristics of the invention, several exemplary embodiments cooperating with detailed description are presented as the follows.
Please refer to FIG. 2A and FIG. 2B, which are respectively a three dimensional view and a partial sectional view of a position controlling mechanism according to an exemplary embodiment of the invention. In this embodiment, the position controlling mechanism 2 comprises: a pair of input rod 20, 21, a first output rod 22 and a second output rod 23. The two input rod 20, 21 are respectively connected to a driving unit by an end thereof for receiving a power output of the driving unit to move accordingly. As shown in FIG. 2B, the two ends 200, 210 of the two input rods 20, 21 connecting to the driving unit are aligning on a same axis 8. Please refer to FIG. 2C, which is a schematic diagram showing the coupling of two input rods in a position controlling mechanism according to an exemplary embodiment of the invention. As shown in FIG. 2C, there is a protrusion 2000 being integrally formed at the front of the end 200 of the input rod 20, and there is a connection structure 2100 being integrally formed at the front of the end 210 of the input rod 21. By inserting the protrusion 2000 into the connection structure 2100, the input rod 20 is coupled to the input rod 21 in a manner that the two input rods 20, 21 can be driven to move independent of each other by the driving of different power sources. As the embodiment shown in FIG. 2C, there is a recess 2001 formed at the top of the end 200 of the input rod 20 which is located opposite to the protrusion 2000 and is connected to a shaft 241 for enabling the input rod 20 to be driven to move by the power transmitting from the shaft 241. Similarly, there is a recess formed at the bottom of the end 210 of the input rod 21 which is located opposite to the connection structure 2100 and is connected to a shaft 251 for enabling the input rod 21 to be driven to move by the power transmitting from the shaft 251.
The end 22 of the first output rod 22 is connected to the end 201 of the input rod 20, and the end 230 of the second output rod 23 is connected to the end 211 of the input rod 21. In the embodiment shown in FIG. 2D, there is a protrusion 2110 being integrally formed at the front of the end 211 of the input rod 21, and there is a connection structure 2300 being integrally formed at the front of the end 230 of the second output rod 23. By inserting the protrusion 2110 into the connection structure 2300, the input rod 21 is coupled to the second output rod 23 in a manner that the two input rod 20 and the second output 23 can be driven to rotate in relative to each other. Similarly, the first output rod 22 is connected to the input rod 20 as that described in FIG. 2D. Moreover, it is noted that the two input rods 20, 21 as well as the first and the second output rods 22, 23 are all being defined by curvatures.
In the exemplary embodiment shown in FIG. 2A and FIG. 2B, the power being transmitted to the two input rods 20, 21 are generated respectively from the two driving motors 24, 25; and are being transmitted through the two driving belts 240, 250 as the two belts 24, 250 can bring along the two shafts 241, 251 to rotate corresponding to the rotations of the motors 24, 25. It is noted that the two driving motors 24, 25 are respectively arranged in correspondence to the two ends 200, 210 of the of the two input rods 20, 21 that are used for connecting to the driving unit; and each of the two driving belts 240, 250 is configured with an end coupled to one corresponding driving motor selected from the two driving motors 24, 25 while coupling another end thereof to one corresponding end of the two ends 200, 210 of the of the two input rods 20, 21 that are used for connecting to the driving unit, thereby, power of the two driving motors 24, 25 can be transmitted to the two input rods 20, 21 in respective.
Please refer to FIG. 3A, which is a schematic diagram showing the coupling of two input rods to a driving motor in a position controlling mechanism according to another exemplary embodiment of the invention. In this embodiment, the input rod 21 is coupled to a gear transmission units 26 while the gear transmission unit 26 is further connected to the driving motor 25 for transmitting power of the driving motor 25 to the input rod 21. Please refer to FIG. 3B, which is a schematic diagram showing the coupling of two input rods to a driving motor in a position controlling mechanism according to another exemplary embodiment of the invention. In this another embodiment, the two input rods 20, 21 are directly connected to the output shafts 241, 251 of the two driving motors 24, 25 so that the two input rods 20, 21 can be driven directly by the two driving motors 24, 25. Therefore, it is noted that there can be various ways to couple the two input rods 20, 21 with the two driving motors 24, 25 for transmitting power to the two input rods 20, 21 that it is not limited to those described in the aforesaid embodiments and is decided dependent upon actual requirement and space arrangement.
Please refer to FIG. 4, which is a schematic diagram showing the coupling of two input rods in a position controlling mechanism according to another exemplary embodiment of the invention. In the embodiment shown in FIG. 4, the end 200 of the input rod 20 that is used for connecting to the driving unit is configured with a via hole which is adapted for receiving a shaft 212 that is coupled to the input rod 21 as power transmitting media, thereby, the two ends 200, 210 of the two input rods 20, 21 that are used for connecting to the driving unit are aligned on a same axis. Moreover, the shaft 212 is further coupled to a driving belt 240. Moreover, in the embodiment shown in FIG. 5, the two ends 200, 210 of the two input rods 20, 21 that are used for connecting to the driving unit are spaced by a distance D; and in the embodiment shown in FIG. 6, although the two ends 200, 210 of the two input rods 20, 21 that are used for connecting to the driving unit are aligned on a same axis, but they are separated by a height H. It is noted that in the embodiment shown in FIG. 6, the shafts 241, 251 are secured to the shells of the two driving motors 24, 25 by the use of the two connection structures 242, 252 or other fixing components.
Please refer to FIG. 7, which shows curved trajectories on a curved surface defined by the positions corresponding to the connection of the first and the second output rods in respond to the moving of the paired input rods. As the position controlling mechanism 2 shown in FIG. 2A is a linkage mechanism with curved bar members, i.e. the two input rods 20, 21 as well as the first and the second output rods 22, 23 are all being defined by curvatures, the positions 27 corresponding to the connection of the first and the second output rods 22, 23 in respond to the moving of the paired input rods 20, 21 will construct curved trajectories on a curved surface 3. In the embodiment shown in FIG. 2A, since the pair of driving motors 24, 25 are connected to the two input rods 20, 21 by the two driving belts 240, 250, the two input rods 20, 21 can be driven to move according to the rotations of the two driving motors 24, 25, e.g. they can both rotate clockwisely or counterclockwisely at the same speed, or one rotates clockwisely and the other rotates counterclockwisely, but at the same speed.
As the first and the second output rods 22, 23 are connected to the two input rods 20, 21 in respective, the moving of the two input rods 20, 21 will bring along the first and the second output rods 22, 23 to move in relative to each other for enabling the position 27 corresponding to the connection of the first and the second output rods 22, 23 to move vertically or horizontally. For instance, when the two driving motors 24 are both rotating clockwisely at the same speed, the position 27 corresponding to the connection of the first and the second output rods 22, 23 is controlled to move following the direction defined by the arrow 80 of FIG. 7; and when the two driving motors 24 are rotating at the same speed but one rotates clockwisely and the other rotates counterclockwisely, the position 27 corresponding to the connection of the first and the second output rods 22, 23 is controlled to move following the direction defined by the arrow 81 of FIG. 7. Furthermore, when the two driving motors 24 are rotating at the different speeds and different directions, he position 27 corresponding to the connection of the first and the second output rods 22, 23 is controlled to move on the curved surface 3 at arbitrary locations. For example, it can move from the location 90 to location 91. Thus, by the control of the rotation speeds and directions of the two driving motors 24, 25, the position 27 corresponding to the connection of the first and the second output rods 22, 23 can be moved to any locations on the curved surface 3.
Please refer to FIG. 8, which is a three dimensional view of a position controlling mechanism according to another exemplary embodiment of the invention. In this embodiment, a platform 28 for supporting an application component is mounted at the position 27 corresponding to the connection of the first and the second output rods 22, 23. It is noted that the application component can be a device selected from the group consisting of an illuminating device and an imaging device, but is not limited thereby. As the platform 28 can be move in correspondence to the moving of the two input rods 20, 21, the viewing angle of the imaging device or the illumination angle of the illuminating device can be changed accordingly. For instance, when the input rod 20 is moved following the direction defined by the arrow 92 and the input rod 21 is moved following the direction defined by the arrow 93, the platform 28 will move by a direction defined by the arrow 94, as shown in FIG. 8. Thereby, similar to that described in FIG. 7, by the control of the rotation speeds and directions of the two driving motors 24, 25, the platform 28 mounted at the position 27 corresponding to the connection of the first and the second output rods 22, 23 can be moved to any locations on the curved surface 3.
Please refer to FIG. 9, which is a three dimensional view of an eye movement control apparatus according to an exemplary embodiment of the invention. In this embodiment, by mounting an eyeball assembly 29 the position 27 corresponding to the connection of the first and the second output rods 22, 23, an eye movement control apparatus 4 can be formed, in which the eyeball assembly 29 includes an eyelid 290 and an eyeball 291. Similarly to foregoing description, the eye movement control apparatus 4 is able to move the eyeball assembly 29 arbitrarily on the curved surface 3. Thus, when the eye movement control apparatus 4 is applied on a doll, a variety of lifelike facial expressions can be simulated, such as joy, anger, upset or mistrust, etc.
To sum up, the present invention provides an eye movement control apparatus, capable of using a linkage mechanism with multiple degrees of freedom to control eyes of a doll to move in various directions and thus providing the doll with a variety of lifelike facial expressions.
The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

Claims

1. A position controlling mechanism, comprising:

a pair of input rods, each connected to a driving unit by an end thereof for receiving a power output of the driving unit to move accordingly;

a first output rod, coupled to one of the two input rods by an end thereof; and

a second output rod, connected to the first output rod by an end thereof while connecting to another input rod not coupled to the first output rod by another end thereof.

2. The position controlling mechanism of claim 1, wherein the extending of each input rod is defined by a curvature.

3. The position controlling mechanism of claim 1, wherein the extending of the first output rod is defined by a curvature.

4. The position controlling mechanism of claim 1, wherein the extending of the second output rod is defined by a curvature.

5. The position controlling mechanism of claim 1, wherein the two ends of the two input rods connecting to the driving unit are jointed by a coupling for aligning the two ends on a same axis.

6. The position controlling mechanism of claim 1, wherein the end of one of the two input rod that is connected to the driving unit is bored through by a driving shaft used for driving anther input rod, and thus the two ends of the two input rods connecting to the driving unit are aligned on a same axis.

7. The position controlling mechanism of claim 1, wherein the two ends of the two input rods connecting to the driving unit are spaced by a distance.

8. The position controlling mechanism of claim 1, wherein the driving unit is composed of two driving motors; and respectively the driving shafts of the two driving motors are axially connected to the two ends of the of the two input rods that are used for connecting to the driving unit.

9. The position controlling mechanism of claim 1, wherein the driving unit is further comprised of:

a pair of driving motors, respectively arranged in correspondence to the two ends of the of the two input rods that are used for connecting to the driving unit; and

a pair of driving belts, each having an end coupled to one corresponding driving motor selected from the two driving motors while coupling another end thereof to one corresponding end of the two ends of the of the two input rods that are used for connecting to the driving unit, for transmitting power of the two driving motors to the two input rods in respective.

10. The position controlling mechanism of claim 1, wherein the driving unit further comprises:

a pair of gear transmission units, each coupled to one corresponding driving motor selected from the two driving motors and one corresponding end of the two ends of the of the two input rods that are used for connecting to the driving unit.

11. The position controlling mechanism of claim 1, further comprising:

a platform, mounted at a position corresponding to the connection of the first and the second output rods so as to be used for connecting to an application component.

12. The position controlling mechanism of claim 11, wherein the application component is a device selected from the group consisting of an illuminating device and an imaging device.

13. An eye movement control apparatus, comprising:

a pair of input rods, each coupled to a driving unit by an end thereof for receiving a power output of the driving unit to move accordingly;

a first output rod, coupled to one of the two input rods by an end thereof;

a second output rod, connected to the first output rod by an end thereof while connecting to another input rod not coupled to the first output rod by another end thereof; and

an eyeball assembly, mounted at a position corresponding to the connection of the first and the second output rods in a manner that that the eyeball assembly is driven to move on a curved surface in respond to the moving of the paired input rods.

14. The eye movement control apparatus of claim 13, wherein the extending of each input rod is defined by a curvature.

15. The eye movement control apparatus of claim 13, wherein the extending of the first output rod is defined by a curvature.

16. The eye movement control apparatus of claim 13, wherein the extending of the second output rod is defined by a curvature.

17. The eye movement control apparatus of claim 13, wherein the two ends of the two input rods connecting to the driving unit are jointed by a coupling for aligning the two ends on a same axis.

18. The eye movement control apparatus of claim 13, wherein the end of one of the two input rod that is connected to the driving unit is bored through by a driving shaft used for driving anther input rod, and thus the two ends of the two input rods connecting to the driving unit are aligned on a same axis.

19. The eye movement control apparatus of claim 13, wherein the driving unit is composed of two driving motors; and respectively the driving shafts of the two driving motors are axially connected to the two ends of the of the two input rods that are used for connecting to the driving unit.

20. The eye movement control apparatus of claim 13, wherein the driving unit further comprises:

21. The eye movement control apparatus of claim 13, wherein the two ends of the two input rods connecting to the driving unit are spaced by a distance.

22. The eye movement control apparatus of claim 13, wherein the driving unit further comprises: