US20140378281A1

US20140378281A1 - Robotic Sparring Partner

Info

Publication number: US20140378281A1
Application number: US13/924,417
Authority: US
Inventors: Joseph Mazi
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-06-21
Filing date: 2013-06-21
Publication date: 2014-12-25

Abstract

A robotic sparring device is provided having an upright torso section operatively engaged with arms, legs, and a head. Both the arms and legs are formed of two sections and engaged to the torso at respective shoulder and hip positions. Computer controlled electric motors at points similar to human joints provide rotation of joined leg and arm sections in two planes. A computer controller is configured with software to elicit human like offensive and counter movements of the limbs of the sparring device in response to or an offensive movement toward a human sparring partner.

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention
The present invention relates generally to sparring and training devices for boxing, martial arts, and the like. More particularly, the invention relates to a computer-controlled robotic sparring partner which is configured for both offensive and defensive sparring technique for use as a training aid for a human user. The device employs a plurality of sensing means, in particular a video enabled sensor communicating with a computer controller running software configured for the task of tracking user hand, and body motion, and recording such movement in real-time. It does so to use predictive software to access punching habits over time, and in order to calculate an incoming punch from the human user, and calculate and carry out responses in the form of defensive and offensive coordinated attacks. Such can include blocking or avoiding user advances as well as performing offensive strikes in response to the user's actions. Further, the device may include software to enable the device to mimic the fighting habits of opponents.
2. Prior Art
Boxers, martial artists, and mixed martial artists conventionally immerse themselves in daily training regimens in order to advance in their sport, gain knowledge, as well as build and maintain a peak physical condition. Cardiovascular exercises as well as muscle building and strength training are typical exercises these athletes perform to build and maintain their physique. To learn and build the techniques of the respective sport, however, these athletes conventionally spar with a trainer or other athletes in a controlled environment to simulate a real world fighting match and gain practical skills related to the sport.
One well known sparring method is through the employment of pads held by a trainer. The trainer will move the pad in various locations in front of the user while the user follows the movement and adjusts to strike offensive blows at the pads in their new position. This generally requires a physically strong trainer with immense knowledge of the sport since they must manipulate the pads in a proper order. This stimulates a series of blows or combinations from the boxer which are used in actual fighting positions. Further, the trainer must be able to absorb the blows to the pads and continuously and concurrently provide constructive oral feedback to the athlete.
Additionally, during such sessions, the trainer must also be keenly aware of the athlete's movements, and proclivities for movement, in order to avoid getting hit themselves. If the boxer misses a moved pad, the blow can arrive at an unintended location such as the face or abdomen of the trainer.
As can be discerned, this trainer and boxer method of practice generally requires a great deal of skill of both parties, as well as trust between the athlete and trainer. In addition, these training sessions can be quite costly since the skilled trainer generally has highly valued time for which payment must be tendered. Further, this trainer directed pad method is most generally for offensive training, and isn't necessarily aimed for defensive training since the trainer is unlikely to have the skill or speed to challenge a boxer in their prime, nor are pads a likely substitute for an incoming gloved hand.
Another well known mode of boxing and practice for similar combative sports is the sparring method. This mode of practice involves sparring of the boxer with another fighter. The pair of sparring athletes essentially perform a mock fighting match honing both offensive and defensive skills since they are interacting with a sparring partner who is fighting back. Since these matches are considered a training technique, they are typically performed in a controlled environment with the athletes wearing protective gear, such as pads or helmets. Further the athletes must have sufficient skills to avoid heavy hits while still making the quick motions which precede them.
Such mutual combative sparring while wearing pads and the like helps ensure the athletes do not get seriously injured. Concurrently, this mode of practice allows both fighters to perform a variety of offensive and defensive techniques. This method of sparring is highly valuable in the sport since it gives athletes real life experience which is only comparable to an actual fighting match.
However, even with the use of pads, there is still a chance of mistakes being made during a mock fight which can result in a fighter getting injured, sometimes seriously. For these reasons, athletes often find it difficult to obtain a willing sparring partner, typically substantially of the same skill level as their own. This is the only manner in which to have a fair training session where neither fighter is injured and both receive a workout. However, if the fighters are mismatched, the novice will end up in a pummeling and the more astute boxer will not have the training needed to fight boxers of his more elite status. For these and other reasons, although sparring with a human partner is highly valuable in boxing and other combative sports, many athletes are unable to find an adequate partner or simply choose not to spar due to injury risk and many other reasons.
Still further, it is highly desirable for professional fighters, to be able to practice against another boxer who has sufficient skill to actually emulate the fighting style of an upcoming opponent. This takes an especially astute sparring partner to mimic the punches and motions of another boxer. This type of sparring is further complicated if an upcoming opponent is left handed, as left handed sparring partners with the ability to emulate the style of fighting of another fighter who is left handed, will be almost impossible to find.
As a result of this desire to provide practice to boxers and combative sport athletes, prior art has shown many attempts to provide sparring and training devices which aim to at least simulate sparring, and thereby provide a similar experience of sparring a human partner to a practicing fighter. However, such are intended as a solo training aid. Many such devices in prior art attempt to provide robotic or electromechanical assemblies resembling a human fighter, which perform various fighting maneuvers both offensive and defensive, to simulate that of a human fighter. Examples can be seen in U.S. Pat. Nos. 3,250,533; 4,593,900; 5,100,138; 6,152,863; and others.
These and similar devices are generally low tech, and do not provide a simulated experience which closely matches that of a human fighter. Thus users will not gain the same experience or training as they would with a human partner, or with a device which closely matches that of a human fighter. Typically, these devices perform pre-determined mechanical movements, which the practicing user may quickly learn therefor halting any chance of progress. In addition, the user can quickly lose interest in training with the devices, making these devices undesirable for advanced training purposes.
A major factor contributing to the failure of these devices is the inability to provide a realistic simulation of a real combative fight, wherein the device reacts as a human fighter would and the human fighter can practice against an opponent who moves and strikes in a manner relative to the human fighter's style and experience level. Although, some known devices may employ sensors to record the number and strength of blows against a pad or other location on the device, there is yet to exist a sparring device employing computer enabled control which allows for the incorporation of real-time responses which are elicited by the very movements of the sparring human fighter. Such real time responses allow the device thereafter to carry out offensive and defensive coordinated attacks directed at the user for realistic training purposes.
As such there continues a lacking in the art, of a mechanical sparring or fighting partner, which can provide a realistic human like opponent to practicing boxers. Such a device should simulate defensive and offensive attacks which are conventionally known in the art and do so with a high degree of accuracy and which are reactive to the movements of the practicing boxer. Such a device should provide a training method which is easy to follow, and accurately simulates movements, blows, and counterpunches of a real life sparring partner. In addition, such a device should be tunable and adjustable to individual user training needs, and further, should be controllable to emulate individual known fighters styles, reach, and power.
The present invention aims to solve this previously unmet need through the provision of a robotic sparring device employing means for detecting, sensing, movement tracking, and responding to mo sparring users head, torso, and limbs. The response is I real time and realistic. Further, the response can be enhanced by the employment of a human fighter in electronic engagement to the device, which will emulate or duplicate the movements of the engaged fighter. In doing so, whether using human direction for movement, or software driven movement, or a combination thereof, the device provides for highly interactive and realistic defensive and offensive coordinated attacks in real-time. Further, it does so in response to the specific actions and style of the practicing boxer or higher and will do so in a style emulating a known fighter if so programmed.
The forgoing examples of related art and limitation related therewith are intended to be illustrative and not exclusive, and they do not imply any limitations on the invention described and claimed herein. Various limitations of the related art will become apparent to those skilled in the art upon a reading and understanding of the specification below and the accompanying drawings.

SUMMARY OF THE INVENTION

The device herein disclosed and described provides a solution to the shortcomings in prior art and achieves the above noted goals through the provision of a robotic sparring partner device capable of performing movements related to boxing, martial arts, and the like, with a high degree of accuracy, and which provides real-time responses to the human user's movements.
In at least one preferred mode, the device resembles a human upper body, having a torso, head, neck, shoulders, arms, hands, and leg components. Each respective component can be articulated to a high degree of accuracy to match or mimic human fighter or boxer movements, via various powered mechanical and electrical components as needed for providing realistic training for the sparring user.
The device can be supported on a free-standing support stand, engaged operatively with the floor, or can be mounted to a wall. Further, particularly useful utility is provided in that the device may be configured to actually sense and respond to the movements of a human opponent. This is accomplished with means for real-time sensing and tracking of the hands, torso, head, arms, and other body positions of the sparring user in order to allow for calculation of incoming attacks and to carry out various offensive and defensive coordinated attacks and counters, also in real-time against the user.
In addition, upon completion of a training session, the device, employing an operatively engaged computing device and software adapted to tracking incoming punches during a fight, may provide appropriate feedback for correcting user mistakes, showing easily predicted movements which are easily defended or taken advantage of, as well as encouraging the user to perform better.
It is briefly noted that upon a reading this disclosure, those skilled in the art will recognize various means for carrying out the intended features of the invention as described below and in more detail in the following detailed description. As such it is to be understood that other methods, devices and system of components may be configured to carry out these features and without departing from the scope and intent of the present invention are therefor considered to be part of this disclosure, and are anticipated.
In accordance with one preferred mode of the device the device disclosed includes a computer having software running thereon, and in operative electronic engagement with an electromechanical robot which either human real time input, or software on the computer controls. The robot has a torso extending from a support member or other support structure. The device preferably includes torso, head, neck, shoulders, arm, and leg portions, all of which employ motors or servos, allowing movement in directions individually, and in combination, which yield leg and arm movements substantially resembling those of a human body.
The device may be formed from having an exterior surface of molded resins or plastics having density and material properties similar to human flesh. An interior skeletal structure is sized and dimensioned to support the exterior surface attached thereto. In appropriate positions on the neck, legs, arms, and torso, there are included electric motors or servos which are computer controllable for direction, velocity, and other movement.
The motors, servos, and other various electrical and mechanical components are engaged between portions of the arms, and the torso, and head and neck at a minimum, to enable operative rotation and translation thereof in order to perform the various offensive and defensive coordinated movements for sparring and training a human user such as those related to boxing, martial arts, and others.
In order to provide coordinated movements and feedback from user interaction, the device preferably employs a plurality of impact and/or movement sensing means engaged at various locations. For example, motion sensors, pressure sensors, and accelerometers, may be engaged at various multiple locations on the device. Output signals from the sensors will provide the computer controlling movements a spacial awareness in three-dimensions of arm, hand, head, and neck movements. The sensors will preferably communicate with a computer or microprocessor running a controller component which will control the amount and velocity of any movement initiated. Sensor input communicated to the device will be communicated to a microprocessor employing software adapted to the task collecting the sensor data of real time and recorded movements, of the components of the device in 3-dimensions. Feedback to the microprocessor and software, in real time, enable the computing device to ascertain where in three-dimensions, the hands, legs, arms and head and torso of the device are located and in what angle or configuration and at what movement or velocity. Using both this feedback and electronic commands to move each respective arm, leg, neck, head, torso, or other part, the device can be a formidable opponent to a human user since it can move to strike or block discerned punches, or kicks of the human opponent.
The provision of pressure sensors, engaged to the various parts of the device can record instances of contact by the sparring user at each position and the force of the contact. This pressure sensor data may be communicated to the microprocessor for software to ascertain if there was a successful blow landed, or blocked attack by the user.
Additionally, for user safety, if the device senses undesired forces or contact with the human user during one or a combination of offensive or defensive attack movements, the device may shut off or immediately retreat from the fight to ensure the user is not injured.
In one preferred mode, the coordinated movements of the device are carried out as pre-programmed training sessions which can be user-selectable for training different techniques and skills in both offense and defense. In these modes, using information gathered from the tracked movements of boxers and fighters, a database of kicks, blows and blocking actions is stored in accessible memory of the computer, and used to control movements of motors and servos of the arms and the legs and necks, and other robot parts, to move them in a similar fashion to the movements stored. Such movements may be gathered from actual higher movements and stored as data using the same sensors and accelerometers mounted on the boxers, as the robot.
Thereafter, using feedback from the robotic sensors of the same type, and spacial awareness provided by accelerometers, the commands from the software will energize the motors and servos of the robot, to make the arms, legs, neck, and limbs and hands move in a substantially identical fashion using the feedback data to control those movements.
From the database of routines, and/or individual actions such as punches, kicks, blocks, and the like, the user can select a software controlled, desired training session which allows them to work on specific techniques, punches, defenses, or to gain muscle memory for certain movements through a specific training session of multiple similar movements. For example, however without implying limitations, the device can be programmable into a Low-Intensity Boxing Mode, Hi-intensity Boxing Mode, Mixed Martial Arts Mode, Attack Avoidance Mode, and so forth. Each mode will have software controlled routines which will employ movements of the legs, arms, head, and other robotic body parts from the database of stored movements either individually, or in combinations or series.
In another preferred mode, the coordinated movements of the device can be carried in random sequence of one or both of offense and defense attacks. Thus, the user is given an opportunity to react to unknown attacks, as they would encounter in an actual fight. Further, after a successful block of a punch or kick by the user and activation of a pressure sensor engaged to the device, the attack may be immediately retreated to avoid injuring the user.
In another particularly preferred mode, the device employs means for real-time sensing of motion, directional acceleration, and other sensed movements such as facial tracking and eye movement, to track movements of the human sparring user and to respond with a known typical offensive or defensive move, or combinations thereof, stored in the database.
In at least one mode of the device, a video enabled tracking sensor, or other motion sensing means, is employed to sense, track, and record real-time movements and accelerations of the limbs and body of the sparring user. The video enabled sensor may be engaged to the device, or may be employed as a separate component positionable remote of the device and in a location which better captures the user's movement. However, a mounting on the robot at about an equal level from the ground as the human user's face appears the best mode to achieve a cognisance of how the fighter looks to a human opponent during a fight and therefor provide the best response to that more realistic view.
By gathering real-time motion information of the human user, the device employing software adapted to the task may then control the motors and servos of the device to elicit the timed movements of the head, legs, neck, torso, arms, and limbs, to achieve realistic offensive and defensive coordinated kicks and punches and other movements for attacks which are in real-time, a response to the user's current or predicted movement, much like a real fighter would. For instance, in a human like kick movement, the electric motors or servos at the hip joint rotate up, raising the upper portion of the leg forward, while the motor in the knee joint rotates down, keeping the shin parallel to the body. Once the knee end of the leg, is at a convenient height, the knee joint is controlled to rotate upward thereby raising the shin forward, while the motor at the hip joint rotates down, lowering the upper portion of the leg and straightening the leg. The result being a human-like movement of a straight kick Thus, the user can experience a training simulation which is substantially similar to a human sparring partner. It is anticipated that the user can select the level of intensity of the training session for their particular skill level.
In at least one preferred mode, the video enabled sensor is a video camera engaged to the device, and preferably at a location where it can obtain a full view of the human sparring user during a training session, such as on the head. Software communicating with the camera is adapted to the task of motion tracking sensors and for recognizing the human form such as the face and head, and tracking movement of the human sparring user, and in particular, the advancements of the user's arms and hands and legs and feet, during offensive attacks. This allows the software adapted to the task of calculating the proper counter punch or block or kick or leg movement, from the stored motions actionable by energizing the servos or motors which are in the database, to allow the device to react and provide appropriate defensive motions and counter offensive attacks.
In at least one other preferred mode, the motion tracking means can be enhanced through the provision of one or preferably a plurality of video target components, engageable to the human users body, at various predetermined locations such as the hands, head, and torso of the user. The target components can be of a particular color, or broadcast individual signals, which are detectable by the video camera or an RF sensor, for a higher degree of accuracy of motion tracking compared to techniques of motion tracking of the human form alone. This would also be the way for the device to “learn” punches, combinations, blocks, kicks, leg movements, and other movements, by using the cameras and sensors to track a real human boxer, and store their movements and acceleration, in the database. Thereafter these stored movements may be reproduced by the robotic boxer, using position sensors or movement tracking sensor feedback to allow the computer to calculate the operation and speed of each motor or servo, to make the desired move at the desired speed.
In yet another preferred mode, the target components may be radio frequency identification (RFID) tags, which the user can engage to their clothing, or of which are provided in wearable sparring garments such as gloves or a headband or on the legs. The device may then emit RF transmissions via an antenna to communicate with the RFID tags for determining their spacial position. The software may be adapted to triangulate the RFID positions in the three-dimensions, and thereby provide a spacial awareness of the sparring user. In this mode, the video camera may or may not be employed since tracking can be accomplished through RF communications as opposed to video capture.
In another preferred mode of the device, the robot may be programmed or operated by another human, who is in operative communication with the computer operating the robotic motors and services to mimic this device. This may be done by engaging the human with accelerometers and sensors on their hands, feet, legs, head, and torso, to allow the computer to ascertain the human boxer or higher movements for say, ducking, punching, bobbing, weaving, kicking, leg blocks, throwing a left or right hook, an upper cut, a block, and other conventional movements made by a boxer or fighter in offensive and defensive movements.
The movements and punches and kicks and blocks and the like, electronically stored in lookup tables for servo or motor activated movements for the computer to elicit and impart to the robot in response to recognized movements of a human boxer sparring with the robot. The movements by the human boxer sparring with the robot can of course be ascertained by software adapted to recognize movement in a pixilated camera depiction of the sparring human, or by placing camera discernable markers in positions on the boxer's body and equipment, which will allow software viewing a camera depiction of the sparring human, to determine arm, hand, leg, foot and torso and head positioning, direction, and velocity. From correlating tables and data of stored movements and such tracking of the markers, software can quickly determine a particular subsequent movement by the sparring human, match a known movement, and using a lookup table of correlating counter movements and the motors or servos required to elicit such for a counter to the recognized known movement, the software will operate the motors and servos of the robot to move in a proper response of offensive or defensive movements.
In all preferred modes, it is intended that the device senses the spacial positioning of the user in three-dimensions in real-time such that the device can perform a particular offensive or defensive coordinated response also in real-time, thereby providing an extremely accurate simulation of a human sparring partner.
It is noted that those skilled in the art may envision various modifications or changes to the preferred mechanical components and hardware, as well as the electrical components, movement markers and video recognition software and other software needed to achieve the various features and actions of the device. As such, the following detailed description is provided merely for illustrative purposes of these components to portray the overall intent of the invention and should not be considered limiting.
With respect to the above description, before explaining at least one preferred embodiment of the herein disclosed invention in detail, it is to be understood that the invention is not limited in its application to the details of construction and to the arrangement of the components in the following description or illustrated in the drawings. The invention herein described is capable of other embodiments and of being practiced and carried out in various ways which will be obvious to those skilled in the art. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting.
As such, those skilled in the art will appreciate that the conception upon which this disclosure is based may readily be utilized as a basis for designing of other structures, methods and systems for carrying out the several purposes of the present disclosed device. It is important, therefore, that the claims be regarded as including such equivalent construction and methodology insofar as they do not depart from the spirit and scope of the present invention.
As used in the claims to describe the various inventive aspects and embodiments, “comprising” means including, but not limited to, whatever follows the word “comprising”. Thus, use of the term “comprising” indicates that the listed elements are required or mandatory, but that other elements are optional and may or may not be present. By “consisting of” is meant including, and limited to, whatever follows the phrase “consisting of”. Thus, the phrase “consisting of” indicates that the listed elements are required or mandatory, and that no other elements may be present. By “consisting essentially of” is meant including any elements listed after the phrase, and limited to other elements that do not interfere with or contribute to the activity or action specified in the disclosure for the listed elements. Thus, the phrase “consisting essentially of” indicates that the listed elements are required or mandatory, but that other elements are optional and may or may not be present depending upon whether or not they affect the activity or action of the listed elements.
The objects, features, and advantages of the present invention, as well as the advantages thereof over existing prior art, which will become apparent from the description to follow, are accomplished by the improvements described in this specification and hereinafter described in the following detailed description which fully discloses the invention, but should not be considered as placing limitations thereon.

BRIEF DESCRIPTION OF DRAWING FIGURES

The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate some, but not the only or exclusive, examples of embodiments and/or features. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than limiting. In the drawings:

FIG. 1 shows a front view of a first preferred mode of the robotic sparring device with the forearms in a blocking position. In this mode the device is shown engaged to a free-standing support stand.

FIG. 2 shows a typical view of the mechanical components driving the horizontal and vertical articulating movements at the shoulder joint and an upper or first portion the arm with the torso portion.

FIG. 3 depicts a front view of the device showing one arm extended to a punch position relating to an offensive coordinated attack.

FIG. 4 depicts a view of the torso portion of the device with a cut-away showing the internal mechanical components for driving movement of the upper torso.

FIG. 5 is a side view of the device showing a ready position of the arm of the device.

FIG. 6 is a side view depicting an extended arm position simulating a forward punch, noting that the forearm maintains a horizontal orientation.

FIG. 6 a shows a cut-away of the arm depicting the internal mechanical components.

FIG. 7 is a side view depicting an elevated and extended arm position.

FIG. 8 is a side view depicting a lowered and extended arm position.

FIG. 9 shows a front view of the device in the ready position prior to performing a ‘hook’ type offensive attack.

FIG. 10 shows a first position of the device performing the hook offensive strike.

FIG. 11 shows a second position of the device performing the hook offensive strike.

FIG. 12 shows the final position of the device performing the hook offensive strike.

FIG. 13 shows a preferred as-used mode of the device wherein the sparring user employs motion tracking components, such as sensors, or RFID, which the device senses for providing spacial awareness of the user for determining the type of offensive or defensive movement to perform in response.

FIG. 14 depicts another mode of the device comprising articulateable legs having knees, hip joints and ankles provided by motors or servos to provide kickbox-type sparring or other related sport sparring and training.

FIG. 15 depicts a detailed view of a preferred mode of the hip joint of the device of FIG. 14.

FIG. 16 shows a side view of the mode of the device of FIG. 14.

FIG. 17 shows a detailed view of the mechanical components driving the articulating movements of the leg of the device of FIG. 14.

Other aspects of the present invention shall be more readily understood when considered in conjunction with the accompanying drawings, and the following detailed description, neither of which should be considered limiting.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION

In this description, the directional prepositions of up, upwardly, down, downwardly, front, back, top, upper, bottom, lower, left, right and other such terms refer to the device as it is oriented and appears in the drawings and are used for convenience only; they are not intended to be limiting or to imply that the device has to be used or positioned in any particular orientation.
Now referring to drawings in FIGS. 1-17, wherein similar components are identified by like reference numerals, there is seen in FIG. 1 a view of a first particularly preferred mode of the robotic sparring partner device 10 including software running on a computer communicating as or with a controller, to elicit the controlled electromechanical movements of all horizontal and vertical moving motors as well as the rotational movement of the robotic torso 12 extending from a support structure such as a support post 28 or other support structure.
The device 10 includes the articulatable torso 12, a head 26, neck 27, right shoulder joint 14 communicating with a first section of the right arm 16, a left shoulder joint 18 engaged to a first section of a left arm 20. The first portion of the right arm 16 engages the second section of the right arm at a right elbow joint 17 at a first end and at a right hand 22 at a second end.
The first section of the left arm 20 continues to a left elbow joint 21 which is engaged to a second section of the left arm 20 continuing to the left hand 24. The engagements and movements of the arms all substantially resemble that of a human body.
The robotic sparring partner device 10 communicating operatively for control with software running on a computer controlling the plurality of horizontally and vertically rotating motors at the respective shoulders and elbows, will perform coordinated movements and routines related to boxing, martial arts, and the like, with a high degree of accuracy. Through the provision of mechanical and electrically powered components, operatively engaged to the software-enabled controller which is configured to switch electrical power to the respective motors, to cause them to rotate engaged arm and leg components in the horizontal and vertical planes concurrently, to drive such articulated motions of the arms and legs in human like fashion.
Those skilled in the art may envision various constructions and arrangements of electrical and mechanical components suitable for the intended purpose of carrying out the various offensive and defensive coordinated movements for sparring and training a user related to boxing, martial arts, and the like. As such, the following descriptions are given merely as an illustrative example, and should not be considered limiting the scope of the construction of the device 10 herein.
The various components of the device disclosed herein can be formed of conventional materials such as molded resins, plastics, metal, composites, or wood, however, can be formed of any material suitable for the purposes set forth in this disclosure. However, in a preferred mode, the device includes exterior surface materials having the density and material properties similar to human flesh which is cast or formed over the various mechanical components, to simulate that of a human.
As currently shown, the device 10 can be supported on a support post 28 engaged to a free-standing support stand 30, however it is envisioned that the torso 12 can also be rigidly mounted to the floor, or can be mounted to a wall via a bracket with the employment of suitable fastening means.
FIG. 2 shows a view of the left shoulder joint 18 on a first side of the torso and the right shoulder joint 14 will be a mirror image of the first shoulder joint 18 located on a second side of the torso opposite the first side. Movement of the arms 16, 20, by rotation of their respective first and second sections through three axis in three-dimensions is provided by the compound concurrent rotation of a plurality of electric motors 36, 40 engaged to a horizontal drive plate 38 and a vertical drive plate 42, respectively.
The motors 36, 40 are controlled by a computer controller 46 employing software adapted to the task of coordinating the forward and rearward rotations of the motors, to rotate the arm sections in the vertical and horizontal planes, singularly or in combination, to provide desired articulation of an arm 20 in three-dimensions. By using this concurrent horizontal and vertical plane rotational control, the device 10 will punch or block or perform other movements in defensive or offensive response, to movements of the sparring user.
Such offensive and defensive movements may be chosen in response to movements of the sparring user, from a relational database of stored horizontal plane, and vertical plane, motor rotations which must occur to rotate the arm sections and elicit offensive or defensive arm movements. The stored database in electronic memory accessible to the software running on the controller or engaged computer, correlates individual routines of exact horizontal and vertical motor rotations and timing, to achieve a particular movement by an arm, such as a hook punch, or upper cut punch, or block, or jab. The software running on the computer initiates the stored routine in response to a perceived sparring user movement, to achieve a movement of offensive or defensive nature depending on the sparring exercise.
Position sensors 44 engaged to the motors 36, 40 and electrically communicating with the controller 46 may be employed to count rotations in both directions and measure the rotational position of the motors relative the location of the sections of the arm 20 in three-dimensional space, which is recorded by the controller 46. It is intended that the arms 16, 20 can move out and in, as well as up and down. FIG. 3 shows a front view of the device 10 with the left arm 20 in an extended position simulating an offensive strike.
An additional plurality of sensing means 50 are engaged at various locations on the device 10 and communicate with the controller 46. For example, motion sensors, pressure sensors, and accelerometers may be engaged at various locations on the device 10 providing spacial awareness in three-dimensions, as well as the occurrence of contact with the user. The sensors 50 will preferably communicate with the controller 46 employing software adapted to the task collecting the sensor data and recording the movements of the device in three-dimensions, and in real time.
The provision of pressure sensors and/or accelerometers engaged to the parts of the device 10 including the torso 12, head 26, hands 22, 24, and arms 16, 20 will record instances of contact by the sparring user to indicate a successful or blocked attack by the user. These sensors 50 can record the force of impact from the user to provide feedback of the users strength and or potential weaknesses. Additionally, for user safety, if the device 10 senses contact with the user during an offensive attack movement by the device 10, the controller 46 may shut off the mechanical components or otherwise immediately retreat the attack to ensure the user is not injured.
FIG. 4 shows a view with a cut-away of the torso 12 depicting the preferred driving components for the torso 12. In at least one preferred mode, a stationary base 52 may be provided which extends to the support post 28 and is positioned substantially adjacent the bottom end of the torso 12 as shown. A drive motor 54 engaged to the base 52 may rotate a drive plate 56 and upper member 13 which communicates with the upper section of the torso 12. Driving of the motor 54 will cause the upper section of the torso to shift side to side, as shown by the arrows, to provide a type of ‘bob and weave’ movement possibly when defending from a user attack, as a defensive strategy conventionally known in the art. A similar configuration may be employed at the neck 27 such that the head 26 can be articulated independently from the torso 12.
FIG. 5-FIG. 8 show a side view depicting an offensive punch from the device 10. FIG. 5 generally depicts a ready position, with the arms 16, 20 positioned at the side of the torso 12. FIG. 6 shows the hand 24 extending forward while rotating at the elbow 21 and shoulder 18, with the second or forearm section remaining substantially horizontal. FIG. 6 a shows a cut-away showing the internal mechanical components of the arm 20 which may include arm linkage 58, 62 extending from the shoulder 18 to elbow 21, and from the elbow 21 to hand 24. An elbow or hinge 60 may include a servo or electric motor for driving articulation at the elbow 21, also controlled by the controller 46. FIG. 7 and FIG. 8 show the arm being elevated and lowered as needed for other offensive or defensive coordinated actions.
In one preferred mode, the coordinated movements of the device 10 are carried out as pre-programmed training sessions which can be user selectable for training different techniques and skills in both offense and defense. The user can select a desired training session which allows them to work on specific techniques or gain muscle memory for certain movements through a specific training session. For example, however without implying limitations, the device 10 can be programmable into a Low-Intensity Boxing Mode, Hi-Intensity Boxing Mode, Mixed Martial Arts Mode, Attack Avoidance Mode, and so forth, wherein the device 10 carries out the desired training session with preprogrammed movements.
For example, FIG. 9-FIG. 12, the device 10 is shown performing an offensive ‘right hook’ attack. FIG. 9 depicts a ready position with the arms positioned at the first and second sides of the torso 12. FIG. 10 shows the right shoulder 14 rotating outward directing the arm 16 and hand 22 to the side.
FIG. 11 shows the shoulder 14 rotating upward with the elbow 17 slightly extending the hand 22 out, positioning the hand 22 at about face level. FIG. 12 depicts the shoulder 14 rotating inward, directing the hand 22 across the front of the head 26 for completing the hook. It is noted that the device 10 may be configured to perform various other movements related to boxing, martial arts, and the like, while the above example is given merely for illustrative purposes and should not be considered limiting.
For example, other preferred motions can include an ‘upper-cut’ type offensive strike, wherein the shoulder would rotated upward from the ready position, with the elbow remaining at a 90 degree angle, causing the hand 22 to be directed in an upward arcing motion. Of course, those skilled in the art will envision various other offensive and defensive movements suitable for intended training purposes, and are anticipated.
In another preferred mode, the coordinated movements of the device 10 can be carried in random sequence of one or both of offense and defense attacks. Thus the user is given an opportunity to react to unknown attacks, as they would encounter in an actual fight. Further, after a successful block by the user and activation of a pressure sensor engaged to the device 10, the attack may be immediately retreated to avoid injuring the user.
In accordance with a particularly preferred mode the device 10 employs means for real-time sensing and motion tracking of the torso and arms and head of the sparring user. In at least one mode, a video enabled sensor 32, or other motion sensing means, is employed to sense, track, and record real-time movements of the sparring user. The video enabled sensor 32 may be engaged to the device 10, or may be employed as a separate component positionable remote of the device 10 to a location which better captures the user's movement.
By gathering and storing in computer memory, real-time motion of the user, the controller 46 employing software adapted to the task of using the stored data concerning user motion and calculating offensive and defensive movements in response, may then control the device 10 to perform the various offensive and defensive co-ordinated attacks in response to the users movement, much like a real fighter would in real time. Thus the user can experience a training simulation which is substantially similar to a human sparring partner. It is anticipated that the user can select the level of intensity of the training session for their particular skill level.
In at least one preferred mode, the video enabled sensor 32 is a video camera engaged to the device 10, and preferably at a location where it can obtain a full view of the user during a training session, such as on the head 26. Software communicating with the camera is configured with routines for the task of motion tracking of the user, and means for recognizing the human form and tracking movement of the sparring user 100. In particular the software using the captured video and changing pixels therein, tracks the movements of the user arms and hands of the user during offensive attacks by the user 100. This allows the device 10 to employ the above mentioned software having routines to counter and to defend, the determined arm and hand movements of the user and then react and provide appropriate real time defensive motions, and counter offensive attacks.
In at least one other preferred mode, and shown in FIG. 13, the motion tracking means can be enhanced through the provision of one or a plurality of video target components 64 engageable to the user's body 100 or equipment such as the glove, and at various pre-determined locations such as the hands, head, and torso. The target components 64 can be of a particular color which is detectable by the video camera 32 for a higher degree of motion tracking of the individual parts of the body and gloves, compared to techniques of motion tracking of the human form such as using pixels and changes in background.
In yet another preferred mode, the target components 64 may be radio frequency identification (RFID) tags, which the user 100 can engage to their clothing, or of which are provided in wearable sparring garments such as gloves 66 or a headband, and which may be adhesively positioned on their body. The RFID tags each have a unique identifier which broadcasts during emissions by the device 10 of multiple such RF transmissions via an antenna 34 to communicate or receive broadcasts from the individual RFID tags for determining their position. The identifier for each respective RFID is correlated in the software running the controller, with a position on the user's body or gear, so that the software has a positional awareness of each RFID.
The software employed to generate counter punches and defensive movements will be adapted to receive the individual concurrent RF broadcasts from the individually identifiable RFIDs and triangulate the RFID positions in the three-dimensions. Using software configured to mathematically calculate the distances of each RFID from the others, and knowing the respective positions on the body of the user, the software can thereby determine a spacial awareness of all movements and positions of the sparring user 100.
From a database of correlated responses to individual arm, hand, torso, and body movements, the controller can control the multiple motors rotationally engaging the torso and component arms, to move in offensive and defensive movements in response to the determined positions of the user from the RFID broadcasts. In this mode the video camera may or may not be employed since tracking of the sparring user's body and arm and head movements in real time, can be accomplished through RFID RF communications as opposed to video capture. However, both may be employed with the video calculated movements cross referenced with the movement determined by the RFID broadcasts, for better accuracy in calculating the sparring user's movements and current position.
FIG. 14-17 show an additional particularly preferred mode of the device 10 having articulatable legs for use with kick boxing or similar type sparring and training. Right 70 and left 78 thighs are engaged to the torso 12 at respective hip joints 68, 76. Right 74 and left 82 lower legs are engaged to right 70 and left 78 thighs at respective knee joints 72,80 and engaged to right 75 and left 84 feet through ankle joints 85. It is preferred that the hip joints 68 are configured to carry out coordination movements similar to that of a human sparring partner, including sweeps, body kicks, head kicks, and others. This may be accomplished through the employment of suitable mechanically rotating components, powered for movement by electrical components such as electric motors and servos communicating with the computer controller, similar to that of the shoulder joints 14, 18 described previously. Human like rotation along the axis of the legs as well as around that axis during such movement is easily achieved with electric motors or servos which rotate at the hip joints 68 and 70.
In FIG. 15 there are shown electric motors 36, 40 engaged to a horizontal drive plate 38 and a vertical drive plate 42, respectively allowing for rotation around an axis and of the axis of the leg. The motors 36, 40 may be controlled by the computer operated controller 46 employing the above referenced software configured to the task of coordinating the respective horizontal and vertical rotations of the respective motors, to provide articulation of the legs in three-dimensions. However, it is noted and anticipated that those skilled in the art may recognize other suitable means for articulating the legs to simulate human movements, and is considered within the scope of this patent. As such the depictions and descriptions are provided merely as illustrative examples without being limiting in any manner.
FIG. 16 shows a side view depicting the hip joint 76 engaging the left thigh 78 to the torso 12. A rotatable left knee joint 80 communicates between the left thigh 78 and lower left leg 82. An ankle joint 85 and left foot 84 may also be provided. Each of the these sections may include suitable sensors 50 as shown, for providing feedback to the computer controller 46 regarding force contact with the user, as well as spacial awareness of the rotating and moving limbs of the device 10 as needed for coordination movements of the same.
FIG. 17 shows a cut-away of the leg showing the internal mechanical components of the left thigh 78, left knee 80, and lower left leg 82 which may include linkage 79 extending from the hip 76 to the left knee 80, and additional linkage 83 extending from the left knee 80 to the left foot 84. A knee hinge 81 may include a servo or electric motor for driving articulation at the knee 80, also controlled by the controller 46. It is noted that the right side of the device 10 will be a mirror image of this. As can be discerned easily, such an arrangement allows for rotation in a first or vertical and a second or horizontal plane normal to the first plane concurrently and control of each motor or servo independently allows for movements similar to a human. The proper timing and amount of such rotation may be stored and correlated to elicit defensive and offensive movement by the legs of the device much the same as with the arms.
In all preferred modes, it is intended that the device senses the spacial positioning of the user in three-dimensions in real-time such that the device can perform a particular offensive or defensive coordinated response also in real-time, thereby providing an extremely accurate simulation of a human sparring partner.
This invention has other applications, potentially, and one skilled in the art could discover these. The explication of the features of this invention does not limit the claims of this application; other applications developed by those skilled in the art will be included in this invention.
It is additionally noted and anticipated that although the device is shown in its most simple form, various components and aspects of the device may be differently shaped or slightly modified when forming the invention herein. As such those skilled in the art will appreciate the descriptions and depictions set forth in this disclosure or merely meant to portray examples of preferred modes within the overall scope and intent of the invention, and are not to be considered limiting in any manner.
While all of the fundamental characteristics and features of the invention have been shown and described herein, with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosure and it will be apparent that in some instances, some features of the invention may be employed without a corresponding use of other features without departing from the scope of the invention as set forth. It should also be understood that various substitutions, modifications, and variations may be made by those skilled in the art without departing from the spirit or scope of the invention. Consequently, all such modifications and variations and substitutions are included within the scope of the invention as defined by the following claims.

Claims

What is claimed:

1. A robotic sparring device comprising:

a torso section supported upon an upright support positioned on a support surface;

a first arm having a first section in a rotational engagement at a first engagement point to a first side of said torso;

a second arm having a second rotational engagement at a second engagement point at an opposite side of said torso from said first arm;

a second section of said first arm extending from a rotational engagement to said first section at a third engagement point, to a distal end having a first hand located thereon;

a second section of said second arm extending from a rotational engagement to said first section of said second arm at a fourth engagement point, to a distal end having a left hand located thereon;

motors operatively positioned at each of said first engagement point, said second engagement point, said third engagement point, and said fourth engagement point;

said motors configured to provide rotation in both a first plane and a second plane normal to said first plane to said first portions of said arms relative to said torso, and to respective said second portions of said arms relative to respective said first portions thereof;

each said motor in communication with a power supply and a controller;

each said motors being operable by said controller for both a forward rotation and a reverse rotation, from a static position;

said torso or said upright support rotatable by a torso motor operatively engaged therewith, said torso motor in communication with said power supply and said controller;

said controller in said communication with said torso motor, switchable to rotate said torso motor between said forward said rearward rotation, and a stationary position;

said controller in an operative engagement with a computing device having software thereon configured to initiate movements between said forward, rearward, and static positions of all said motors and said torso motor;

a computer operatively in communication with said controller, said computer running software configured to communicate signals to said controller to initiate said movements, whereby said first and second arms and said torso of said robotic sparring device, will move in accordance with said signals in a manner similar to a human sparring partner; and

said software initiating said signals by choosing said signals from a database of said signals correlated to respective said movements of said first arm, said second arm, and said torso, calculated to counter discerned body movements by a human sparring partner.

2. The robotic sparring device of claim 1 additionally including a system for discerning said body movements by said human sparring partner, comprising:

a camera generating a pixilated image of said human sparring partner and a background;

software configured to determine the right arm, left arm, head, and torso area of said human sparring partner in pixels of said pixilated image; and

said software configured to discern movements of said right arm, left arm, head, and torso area of said human sparring partner, in said pixels, and calculate said discerned body movements by said human sparring partner.

3. The robotic sparring device of claim 1 additionally including a system for discerning said body movements by said human sparring partner, comprising:

camera discernable markers positioned on one or more body positions of said human sparring partner from a group of body positions including a right arm, a left arm, a head, and a torso area of said human sparring partner; and

said software configured to discern movements of said targets and thereby calculate movements of said right arm, said left arm, said head, and said torso area of said human sparring partner relative to each other and thereby calculate said discerned body movements by said human sparring partner.

4. The robotic sparring device of claim 2 additionally including a secondary system for discerning said body movements by said human sparring partner, comprising:

a camera generating a pixilated image of said human sparring partner and a background; and

camera discernable markers positioned on one or more body positions of said human sparring partner from a group of body positions including a right arm, a left arm, a head, and a torso area of said human sparring partner;

said software configured to discern movements of said targets and thereby make a first calculation of movements of said right arm, said left arm, said head, and said torso area of said human sparring partner relative to each other; and

said software configured compare said first calculation to said discerned movements of said right arm, said left arm, said head, and said torso area discerned in said pixels and to then calculate said discerned body movements by said human sparring partner.

5. The robotic sparring device of claim 1 additionally including a system for discerning said body movements by said human sparring partner, comprising:

RFIDs having unique identifiers broadcast in an RF signal, positioned on one or more body positions of said human sparring partner from a group of body positions including a right arm, a left arm, a head, and a torso area of said human sparring partner;

each respective RFID identifier correlated in said software to a respective body position on said human sparring partner;

an RF receiver for receiving said RF signal from each respective said RFID and communicating such in real time to said computer; and

said software running on said computer configured to calculate positions of said RFID's relative to each other and thereby calculate movements of said right arm, said left arm, said head, and said torso area of said human sparring partner relative to each other to thereby calculate said discerned body movements by said human sparring partner.

6. The robotic sparring device of claim 1 additionally comprising:

a first leg having a first section in a rotational engagement at a fifth engagement point to said first side of said torso;

a second leg having a second rotational engagement at a sixth engagement point at an opposite side of said torso from said first arm;

a second section of said first leg extending from a rotational engagement to said first section at a seventh engagement point, to a distal end having a first foot located thereon;

a second section of said second leg extending from a rotational engagement to said first section of said second leg at an eighth engagement point, to a distal end having a second foot located thereon;

leg motors operatively positioned at each of said fifth engagement point, said sixth engagement point, said seventh engagement point, and said eighth engagement point;

said leg motors configured to provide rotation in both a first leg plane and a second leg plane normal to said first leg plane at said first portions of said legs relative to said torso, and to respective said second sections of said first and second leg, relative to respective said first portions thereof;

each said leg motor in communication with said power supply and said controller;

each said leg motors being operable by said controller for both a forward rotation and a reverse rotation, from a static position;

said computer operatively in communication with said controller, said computer running software configured to communicate leg signals to said controller to initiate respective said forward and reverse rotation to each said leg motors, whereby said first and second legs will move in leg movements in accordance with said signals in a manner similar to a human sparring partner; and

said software initiating said leg signals by choosing said leg signals from a database of said leg signals correlated to respective said leg movements of said first leg and said second leg which have been calculated to counter said discerned body movements by a human sparring partner.

7. The robotic sparring device of claim 2 additionally comprising:

8. The robotic sparring device of claim 3 additionally comprising:

9. The robotic sparring device of claim 4 additionally comprising: