US 12,282,710 B2
Flexible manipulation device and method for fabricating the same
Jonathan King, Pittsburgh, PA (US); Nancy S. Pollard, Pittsburgh, PA (US); Stelian Coros, Zürich (CH); Kai-Hung Chang, El Cerrito, CA (US); Cornelia Ulrike Bauer, Pittsburgh, PA (US); Dominik Bauer, Pittsburgh, PA (US); and Daniele Moro, Boise, ID (US)
Assigned to Carnegie Mellon University, Pittsburgh, PA (US)
Appl. No. 17/281,817
Filed by Carnegie Mellon University, Pittsburgh, PA (US)
PCT Filed Oct. 3, 2019, PCT No. PCT/US2019/054487
§ 371(c)(1), (2) Date Mar. 31, 2021,
PCT Pub. No. WO2020/072767, PCT Pub. Date Apr. 9, 2020.
Claims priority of provisional application 62/766,142, filed on Oct. 3, 2018.
Prior Publication US 2022/0004670 A1, Jan. 6, 2022
Int. Cl. G06F 30/10 (2020.01); B25J 3/04 (2006.01); B25J 9/10 (2006.01); B25J 13/02 (2006.01); B25J 15/00 (2006.01); G06F 30/27 (2020.01); G06N 3/008 (2023.01)
CPC G06F 30/10 (2020.01) [B25J 3/04 (2013.01); B25J 9/104 (2013.01); B25J 13/02 (2013.01); B25J 15/0009 (2013.01); G06F 30/27 (2020.01); G06N 3/008 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for fabricating a tendon-driven manipulation device comprising at least one appendage, the method comprising:
generating, with at least one processor, a three-dimensional model of the manipulation device;
generating, with the at least one processor, at least one simulated tendon connected to the three-dimensional model based on at least one location on the at least one appendage of the three-dimensional model;
training, with the at least one processor, an artificial neural network based on simulated activations of the at least one simulated tendon, wherein each simulated activation is based on the at least one location of the at least one simulated tendon and results in at least one pose of the at least one appendage;
modifying, with the at least one processor, the at least one location of the at least one simulated tendon;
simulating, with the at least one processor, a plurality of poses of the at least one appendage based on the artificial neural network and the at least one location; and
connecting at least one tendon to the at least one appendage of the manipulation device based on the location of the at least one simulated tendon.