Connection joint system

Abstract

Aspects of the present disclosure relate to an articulation joint. The articulation joint includes a first rotatable joint member including a first socket cavity and a second rotatable joint member including a second socket cavity. The articulation joint further includes an elongate member having a first end portion with a spherical shape and a second end portion with a spherical shape, the first end portion of the elongate member being movably fixed within the first socket cavity and the second end portion of the elongate member being movably fixed within the second socket cavity. The elongate member is configured to rotate the second rotatable joint member in response to rotation of the first rotatable joint member.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims priority and the benefit thereof to U.S. Provisional Application No. 63 / 357,560, entitled "Articulated Joint System", filed on June 30, 2022, and the entire content of that document is incorporated herein by reference for all purposes as if fully set forth below.

[0002] The technology described below generally relates to articulated devices, and more specifically to an articulated joint system.

Background Art

[0003] In theme parks, attractions (such as rides or shows), restaurants, or other locations, electromechanically moving figures and show elements may be used to enhance the user experience. These moving figures and show elements can include, for example, three - dimensional models of humans, animals, or other types of living things (such as fictional living things).

[0004] Some designs of moving figures may include at least one articulated hand. However, existing designs of articulated hands generally result in an unrealistic appearance and / or an articulated hand with a limited range of motion. For example, existing articulated hands may have an unnaturally large size and / or an inappropriate ratio compared to the overall size of the moving figure due to the bulky structural components that form the articulated hand and / or control the movement of the articulated hand (such as actuators).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The following presents a brief overview of such aspects in order to provide a basic understanding of one or more aspects of the present disclosure. This overview is not an extensive overview of all features contemplated in the present disclosure, nor is it intended to indicate the main or important elements of all aspects of the present disclosure, or to demarcate the scope of any or all aspects of the present disclosure. The sole purpose of this overview is to present in a simple form some design concepts of one or more aspects of the present disclosure as a prelude to the more detailed description presented later.

Means for Solving the Problems

[0007] Aspects of the present disclosure relate to connecting joints. In some aspects of the present disclosure, a connecting joint includes a first rotatable joint member including a first socket cavity and a second rotatable joint member including a second socket cavity. The connecting joint further includes an elongate member having a spherical shape and including a first end movably fixed within the first socket cavity and a second end movably fixed within the second socket cavity. The elongate member is configured to rotate the second rotatable joint member in response to rotation of the first rotatable joint member.

[0008] In some aspects of the present disclosure, a connecting joint is disclosed. The connecting joint includes a rotatable joint member including a socket cavity and configured to rotate about an axis. The elongate member further includes at least one end having a spherical shape and movably fixed within the socket cavity of the rotatable joint member. The elongate member is configured to rotate the rotatable joint member about the axis.

[0009] In some aspects of the present disclosure, a method for constructing a connecting joint is disclosed. The method includes coupling a first rotatable joint member including a first socket cavity to a first shaft member, coupling a second rotatable joint member including a second socket cavity to a second shaft member, and coupling the first rotatable joint member to the second rotatable joint member using an elongate member including a first end having a spherical shape and a second end having a spherical shape. The first end of the elongate member is movably fixed within the first socket cavity, and the second end of the elongate member is movably fixed within the second socket cavity. In some aspects of the present disclosure, the method optionally includes coupling an actuator device to the first rotatable joint member.

Brief Description of the Drawings

[0010]

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[0011] The following detailed description, in relation to the accompanying drawings, is intended to explain various configurations and is not intended to represent only those configurations that can practice the design concepts described herein. The detailed description includes specific details aimed at providing a complete understanding of various design concepts. However, those skilled in the art will appreciate that these design concepts can be practiced without using these specific details. In some instances, well-known structures and components are shown in block diagrams to avoid such design concepts. In this application, aspects and embodiments are described by way of several examples, but those skilled in the art will understand that additional implementations and use cases can occur in many different arrangements and scenarios. The technological innovations described herein can be implemented across many different platform types, devices, systems, shapes, sizes, and / or package arrangements.

[0012] Aspects of the present disclosure relate to an articulation joint system (also referred to briefly as an articulation joint). FIG. 1 is an exemplary side view of a ball joint member 100 (also referred to as a barbell-shaped member) according to various aspects of the present disclosure. The ball joint member 100 can be an elongated member having a spherical shape at each end. For example, the ball joint member 100 can include a bar 102, a first spherical ball 104 coupled to a first end 105 of the bar 102, and a second spherical ball 106 coupled to a second end 107 of the bar 102. In some aspects of the present disclosure, the bar 102, the first spherical ball 104, and / or the second spherical ball 106 can be formed of a rigid material such as metal (e.g., stainless steel, aluminum, etc.), plastic, three-dimensional (3D) printed parts, or other suitable materials.

[0013] The ball joint member 100 can have a length 108. In some examples, the length 108 can be in the range of 10 millimeters (mm) to 5 centimeters (cm). The bar 102 can have a length 110 and a width 112. In some examples, the bar 102 can be a solid cylinder. In these examples, the length 110 can represent the height of the cylinder, and the width 112 can represent the diameter of the cylinder. In some examples, the length 110 can be in the range of 5 mm to 4.8 cm, and the width 112 can be in the range of 1 mm to 5 mm.

[0014] The first spherical ball 104 can have a first diameter 114, and the second spherical ball 106 can have a second diameter 116. In some aspects of the present disclosure, the first diameter 114 and the second diameter 116 can be made equal. In some examples, each of the first and second diameters 114, 116 can be in the range of 2 mm to 10 mm.

[0015] In some aspects of the present disclosure, the ball joint member 100 can be formed as a single unit or entity. For example, the ball joint member 100 can be a solid billet machined part. This is shown in FIG. 2A, which is a cross-sectional view of the ball joint member 100 along line 1-1 described in FIG. 1.

[0016] In other aspects of the present disclosure, the bar 102, the first spherical ball 104, and the second spherical ball 106 can be formed separately and later joined to each other using one or more fastening techniques to form the ball joint member 100. In one example, the first and second spherical balls 104, 106 can be laser welded to the bar. In another example, the first and second spherical balls 104, 106 can be screwed onto respective ends of the bar 102. For example, the first and second spherical balls 104, 106 can each include a threaded hole, and the bar 102 can include one or more threaded portions. Thus, the first and second spherical balls 104, 106 can be screwed onto the threaded portions of the bar 102. This will be described with reference to FIG. 2B, which is a cross-sectional view of the ball joint member 100 along line 1-1 shown in FIG. 1.

[0017] In FIG. 2B, threads (at least partially) can be provided on the first portion 202 and the second portion 204 of the bar 102. The first spherical ball 104 can include a first threaded hole 109 that enables attachment of the first spherical ball 104 to the first end 105 of the bar 102. The second spherical ball 106 can include a second threaded hole 111 that enables attachment of the second spherical ball 106 to the second end 107 of the bar 102. In some examples, an epoxy or other adhesive can be added to the first and second portions 202, 204 of the bar 102 to ensure that the first and second spherical balls 104, 106 do not separate from the bar 102.

[0018] Figure 3 is a diagram illustrating a rotatable joint member 300 according to various aspects of the present disclosure. The rotatable joint member 300 includes a first socket joint element 302, a second socket joint element 304, and a base portion 306. The first and second socket joint elements 302, 304 are coupled to the base portion 306 and are spaced apart to define a socket cavity 308 between the first socket joint element 302 and the second socket joint element 304. For example, the inner surface of the first socket joint element 302 can define a first cavity wall 310, and the inner surface of the second socket joint element 304 can define a second cavity wall 312.

[0019] In some aspects of the present disclosure, the first socket joint element 302 can include a first socket holding hole 318, and the second socket joint element 304 can include a second socket holding hole 320. In other aspects of the present disclosure, the first socket joint element 302 can include a first concave region instead of the holding hole 318, and / or the second socket joint element 304 can include a second concave region instead of the second socket holding hole 320. In some aspects of the present disclosure, the base portion 306 of the rotatable joint member 300 can include a hole 322.

[0020] Figure 4 is a diagram illustrating a cross-section along line 3-3 of the rotatable joint member 300 shown in Figure 3. As shown in Figure 4, the first socket joint element 302 can have a first length 408, and the second socket joint element 304 can have a second length 410. In some aspects of the present disclosure, the first length 408 and the second length 410 can be made substantially equal. As further shown in Figure 4, the first cavity wall 310 can be spaced apart from the second cavity wall 312 by a distance 406.

[0021] In some aspects of the present disclosure, the first spherical ball 104 or the second spherical ball 106 of the ball joint member 100 can be inserted into the socket cavity 308. For example, when the second spherical ball 106 is inserted into the socket cavity 308 under force, the first socket joint element 302 can flex outwardly in the first direction 412, and the second socket joint element 304 can flex outwardly in the second direction 414. Thereby, the distance 406 is temporarily increased, allowing the second spherical ball 106 to enter the socket cavity 308 and snap-lock into place. In response to the snap-lock, the first and second socket joint elements 302, 304 return to their original positions. At this time, the second spherical ball 106 is firmly seated within the first and second socket retaining holes 318, 320, as shown in FIG. 5, and is movably fixed within the socket cavity 308.

[0022] In some aspects of the present disclosure, the first socket joint element 302 can include a first recessed region within the first cavity wall 310 in addition to or instead of the retaining hole 318. In some aspects of the present disclosure, the second socket joint element 304 can include a second recessed region within the second cavity wall 312 in addition to or instead of the retaining hole 320.

[0023] FIG. 5 is a cross-sectional view taken along line 3-3 of the rotatable joint member 300 shown in FIG. 3 when the ball joint member 100 is movably fixed within the socket cavity 308. As shown in FIG. 5, the first spherical ball 104 of the ball joint member 100 can move in a first vertical direction 502 (e.g., upward direction) and further in a second vertical direction 504 (e.g., downward direction). The ball joint member 100 can have a first vertical movement range 506 (e.g., upward movement range) and further a second vertical movement range 508 (e.g., downward movement range). In some examples, the first vertical movement range 506 and the second vertical movement range 508 can each be approximately 25 degrees.

[0024] In some examples, the rod 324 can be arranged to pass through the third hole 322 such that the rotatable joint member 300 can freely rotate around the rod 324. In the aspects described herein, a rod around which a rotatable joint member can freely rotate can be referred to as a shaft member. In some aspects of the present disclosure, the rotatable joint member 300 can rotate in response to a force applied to the ball joint member 100. In some aspects of the present disclosure, the first range of motion 506 and the second range of motion 508 can enable the ball joint member 100 not to be aligned with the rotatable joint member 300.

[0025] FIG. 6 is an exemplary perspective view of the rotatable joint member 300 when the ball joint member 100 is movably fixed within the socket cavity 308. As shown in FIG. 7A, the first spherical ball 104 of the ball joint member 100 can move in a first lateral direction 602 and further in a second lateral direction 604. The lateral movement range of the ball joint member 100 will be described with reference to FIG. 7A.

[0026] Ball joint members such as the ball joint member 100 can form a connecting joint 350 according to various aspects of the present disclosure together with rotatable joint members such as the rotatable joint member 300. For example, a force can be transmitted to the rotatable joint member 300 using the ball joint member 100, and the transmitted force can cause the rotatable joint member 300 to rotate around the axis 325 defined by the rod 324. In some implementations, the force can be provided to the ball joint member 100 via the rotation of another rotatable joint member described with reference to FIGS. 8A and 8B.

[0027] FIG. 7A is a top view of an articulated joint 350 including the rotatable joint member 300 and the ball joint member 100 shown in FIG. 6. As shown in FIG. 7A, the ball joint member 100 can have a lateral movement range 702. For example, the lateral movement range 702 can enable the first spherical ball 104 of the ball joint member 100 to rotate around the second spherical ball 106 from a first position 704 to a second position 706. In some examples, the lateral movement range 702 can be approximately 270 degrees.

[0028] FIG. 7B is a side view of the articulated joint 350 including the rotatable joint member 300 and the ball joint member 100 shown in FIG. 6. As shown in FIG. 7B, the ball joint member 100 can have a vertical movement range 752. For example, the vertical movement range 752 can enable the first spherical ball 104 of the ball joint member 100 to rotate around the second spherical ball 106 from a first position 754 to a second position 756. In some examples, the vertical movement range 752 can be approximately 50 degrees.

[0029] In some aspects, a portion of the lateral movement range 702 of the ball joint member 100 can combine with a portion of the vertical movement range 752 of the ball joint member 100 to provide a conical movement range for the ball joint member 100. For example, FIG. 7C is a perspective view of the articulated joint 350 illustrating an exemplary conical movement range of the ball joint member 100.

[0030] FIGS. 8A and 8B show examples of a link mechanism 800 of an articulated joint according to various aspects of the present disclosure. As shown in FIGS. 8A and 8B, the link mechanism 800 of the articulated joint includes a first rotatable joint member 300_1, a second rotatable joint member 300_2, and a ball joint member 100. The first and second rotatable joint members 300_1, 300_2 can each be the rotatable joint member 300 described above.

[0031] Referring to FIG. 8A, the first rotatable joint member 300_1 can be coupled to the second rotatable joint member 300_2 via the ball joint member 100. For example, the first spherical ball 104 of the ball joint member 100 can be movably fixed within the socket cavity of the first rotatable joint member 300_1, and the second spherical ball 106 of the ball joint member 100 can be movably fixed within the socket cavity of the second rotatable joint member 300_2.

[0032] The first rotatable joint member 300_1 can rotate freely about the first rod 324_1 (e.g., about the first axis defined by the first rod 324_1), and the second rotatable joint member 300_2 can rotate freely about the second rod 324_2 (e.g., about the second axis defined by the second rod 324_2). In FIGS. 8A and 8B, the first and second rods 324_1, 324_2 extend in a length direction perpendicular to the page. In the example shown in FIGS. 8A and 8B, the positions of the first and second rods 324_1, 324_2 are fixed.

[0033] As shown in FIG. 8A, a force 814 can be applied to the first rotatable joint member 300_1, and the applied force 814 can rotate the first rotatable joint member 300_1 in the direction 816 about the first rod 324_1. The ball joint member 100 can transmit the force 814 to the second rotatable joint member 300_2, and the transmitted force 814 can rotate the second rotatable joint member 300_2 in the direction 820 about the second rod 324_2. An example of the position changes of the first rotatable joint member 300_1, the second rotatable joint member 300_2, and the ball joint member 100 due to the force 814 is shown in FIG. 8B.

[0034] Figures 9A, 9B, and 9C illustrate aspects of a ball joint member 900 according to various aspects of the present disclosure. FIG. 9A is an exemplary side view of the ball joint member 900. The ball joint member 900 can include a bar 902, a first spherical ball 904 coupled to a first end 905 of the bar 902, and a second spherical ball 906 coupled to a second end 907 of the bar 902. In some aspects of the present disclosure, the bar 902, the first spherical ball 904, and / or the second spherical ball 906 can be formed of a rigid material such as metal (e.g., stainless steel, aluminum, etc.), plastic, three-dimensional (3D) printed parts, or other suitable materials. In some aspects of the present disclosure, the ball joint member 900 can be formed as a single unit or entity.

[0035] In some aspects of the present disclosure, the second spherical ball 906 can include a hole 908. In some examples, the hole 908 can have a conical shape. This will be described with reference to FIG. 9B, which is a cross-sectional view of the ball joint member 900 along line 9-9 shown in FIG. 9A. In FIG. 9B, the hole 908 can include a first conical opening 910 and a second conical opening 912. Referring to FIG. 9C, in some aspects of the present disclosure, a holding wire 916 can be fed through the hole 908. In some examples, the holding wire 916 can be a wire, cord, cable, or string (e.g., a nylon string or a silk string).

[0036] FIG. 10 illustrates the configuration of a rotatable joint member according to various aspects of the present disclosure. FIG. 10 is an exemplary cross-sectional view of a first rotatable joint member 1002 and a second rotatable joint member 1052. The spherical ball 1004 of the first ball joint member 1000 can be movably fixed within the socket cavity of the first rotatable joint member 1002, and the spherical ball 1054 of the second ball joint member 1050 can be movably fixed within the socket cavity of the second rotatable joint member 1052.

[0037] As shown in FIG. 10, the retaining wire 1064 can extend through the first hole 1010 of the first rotatable joint member 1002, the first conical opening 1006 within the spherical ball 1004, the second conical opening 1008 within the spherical ball 1004, the second hole 1012 of the first rotatable joint member 1002, the first hole 1060 of the second rotatable joint member 1052, the first conical opening 1056 within the spherical ball 1054, the second conical opening 1058 within the spherical ball 1054, and the second hole 1062 of the second rotatable joint member 1052. In some aspects of the present disclosure, the retaining wire 1064 can terminate at a first end portion 1066 and a second end portion 1068. In some examples, the first end portion 1066 can be coupled to the first rotatable joint member 1002, and the second end portion 1068 can be coupled to the second rotatable joint member 1052.

[0038] For example, the first end portion 1066 can be coupled to the first rotatable joint member 1002 using a fastener (e.g., a screw), an adhesive, or other suitable device or material. Similarly, the second end portion 1068 can also be coupled to the second rotatable joint member 1052 using a fastener (e.g., a screw), an adhesive, or other suitable device or material.

[0039] In some scenarios, the retaining wire 1064 can prevent the spherical ball 1004 from detaching from the first rotatable joint member 1002 when an excessive force is applied in the direction 1045 to the first ball joint member 1000. Further, the retaining wire 1064 can prevent the spherical ball 1054 from detaching from the second rotatable joint member 1052 when an excessive force is applied in the direction 1065 to the second ball joint member 1050.

[0040] Note that the conical openings of the spherical ball described in FIG. 10 can maintain the movement ranges provided by the first and second rotatable joint members 1002, 1052. For example, referring to FIG. 10, the first and second conical openings 1006, 1008 of the spherical ball 1004 allow the ball joint member 1000 to move in a first vertical direction 1014 (e.g., upward direction) and further in a second vertical direction 1016 (e.g., downward direction). The first ball joint member 1000 can have a first vertical movement range 1018 (e.g., upward movement range) and further a second vertical movement range 1020 (e.g., downward movement range). In some examples, the first vertical movement range 1018 and the second vertical movement range 1020 can each be approximately 25 degrees.

[0041] In some examples, the first and second rotatable joint members 1002, 1052 can include holes 1003, 1053, and a rod 1070 can be fed through these holes 1003, 1053 to enable the first and second rotatable joint members 1002, 1052 to rotate freely around the rod 1070.

[0042] FIG. 11 illustrates a rotatable joint member 1100 and a ball joint member 1150 according to various aspects of the present disclosure. As shown in FIG. 11, the rotatable joint member 1100 includes a first socket joint element 1102, a second socket joint element 1104, and a base portion 1106. As shown in FIG. 11, the rotatable joint member 1100 can include a socket cavity 1112 configured to receive either one of the spherical balls 1152, 1154 of the ball joint member 1150.

[0043] The first socket joint element 1102 and the second socket joint element 1104 are spaced apart to provide a socket cavity 1112 therebetween. For example, the inner surface of the first socket joint element 1102 can define a first cavity wall 1108, and the inner surface of the second socket joint element 1104 can define a second cavity wall 1110.

[0044] In some aspects of the present disclosure, the base portion 1106 of the rotatable joint member 1100 can include a hole 1114. The hole 1114 can extend through the base portion 1106. In some examples, a rod 1116 can be fed through the hole 1114 such that the rotatable joint member 1100 can rotate freely about the rod 1116.

[0045] FIG. 12 is an exemplary cross-sectional view along line 11-11 of the rotatable joint member 1100 shown in FIG. 11. As shown in FIG. 12, the spherical ball 1152 can be positioned within the socket cavity 1112. The rotatable joint member 1100 can rotate in a first direction 1202 and a second direction 1204.

[0046] FIG. 13 is an exemplary cross-sectional view along line 12-12 of the rotatable joint member 1100 shown in FIG. 11. The spherical ball 1152 can be movably fixed within the socket cavity 1112 (shown in FIG. 11) using a first cavity plug 1160 and a second cavity plug 1164. For example, the first cavity plug 1160 can be inserted into one side of the socket cavity 1112, and the second cavity plug 1164 can be inserted into the other side of the socket cavity 1112. In some examples, the first and second cavity plugs 1160, 1164 can prevent the spherical ball 1152 from detaching from the rotatable joint member 1100. As shown in FIG. 13, the rotatable joint member 1100 can rotate in a first direction 1302 and a second direction 1304.

[0047] In some aspects of the present disclosure, the first cavity plug 1160 can include a first cup portion 1162. The first cup portion 1162 can have a concave shape that conforms to the shape of the spherical ball 1152. In some examples, the first cup portion 1162 can be formed of a rigid material such as metal or plastic. In some aspects of the present disclosure, the second cavity plug 1164 can include a second cup portion 1166. The second cup portion 1166 can have a concave shape that conforms to the shape of the spherical ball 1152. In some examples, the second cup portion 1166 can be formed of a rigid material such as metal or plastic.

[0048] In some aspects of the present disclosure, the socket cavity 1112 can extend partially through the rotatable joint member 1100. In these aspects, only one cavity plug (e.g., the first cavity plug 1160) can be used to movably secure the spherical ball 1152 within the socket cavity 1112.

[0049] Figures 14A and 14B illustrate examples of cavity plugs according to various aspects of the present disclosure. Figure 14A shows a side view of a cavity plug 1400. The cavity plug 1400 includes a threaded portion 1404 and a cup portion 1406. In some aspects of the present disclosure, the cavity plug 1400 can include a head 1402 for pushing itself into the socket cavity. For example, referring to the front view of the cavity plug 1400 shown in Figure 14B, the head 1402 can be a hexagonal socket head. In other aspects, the head 1402 can be of a Phillips head type, a flat head type, or any other suitable head type.

[0050] Figures 15A and 15B illustrate examples of cavity plugs according to various aspects of the present disclosure. Figure 15A shows a side view of cavity plug 1500. As shown in Figure 15A, cavity plug 1500 can include a head portion 1502, fasteners 1504, 1506, and a cup portion 1510. In some aspects of the present disclosure, cavity plug 1500 can be attached to the surface of rotatable joint member 1100 using first and second fasteners 1504, 1506. For example, referring to the front view of cavity plug 1500 shown in Figure 15B, first and second fasteners 1504, 1506 can be located near the edge of head portion 1502.

[0051] Figures 16A and 16B illustrate rotatable joint member 1600 according to various aspects of the present disclosure. As shown in Figure 16A, rotatable joint member 1600 can comprise two or more separate components. For example, rotatable joint member 1600 can include a first component 1610 and a second component 1650. First component 1610 can include a first socket joint element 1612 and a first base portion 1614. In some examples, first component 1610 can include a first socket retaining hole 1616 in first socket joint element 1612. First component 1610 can further include one or more tabs such as tab 1618. Tab 1618 can include a hole 1620. In some examples, hole 1620 can be threaded.

[0052] As further shown in FIG. 16A, the second component 1650 can include a second socket joint element 1652 and a second base portion 1654. In some examples, the second component 1650 can include a second socket retaining hole 1656 in the second socket joint element 1652. The second component 1650 can further include one or more tabs such as tabs 1658, 1662. Tab 1658 can include hole 1660, and tab 1662 can include hole 1664. In some examples, the holes 1660, 1664 can be threaded.

[0053] The first component 1610 and the second component 1650 can be coupled to each other to form the rotatable joint member 1600 shown in FIG. 16B. In some examples, the first component 1610 and the second component 1650 can be fixed to each other using one or more fasteners 1670, 1672. In some examples, each of the fasteners 1670, 1672 can be implemented as a screw, a press-fit component, or other suitable type of fastener. In one example, the fastener 1672 can be implemented as a screw and can be pushed through the hole 1620 of the tab 1618 and the hole 1660 of the tab 1658.

[0054] Figures 17A and 17B illustrate a socket joint retainer 1702 according to various aspects of the present disclosure. The socket joint retainer 1702 can be formed of a rigid material (e.g., metal, plastic, etc.) and can be shaped to fit over and enclose a rotatable joint member 300 as shown in FIG. 17B. The socket joint retainer 1702 can ensure that first and second socket joint elements 302, 304 of the rotatable joint member 300 maintain the second spherical ball 106 of the ball joint member 100 within a socket cavity 308. For example, the socket joint retainer 1702 can prevent the first and second socket joint elements 302, 304 from deflecting outwardly and releasing the second spherical ball 106 from the socket cavity 308 during operation of the rotatable joint member 300 and the ball joint member 100.

[0055] As shown in FIG. 17A, the socket joint retainer 1702 can include a first ball joint member opening 1704 and a second ball joint member opening 1706. The first and second ball joint member openings 1704, 1706 can enable the spherical ball 106 of the ball joint member 100 to pass through the socket joint retainer 1702.

[0056] In some aspects of the present disclosure, the socket joint retainer 1702 can include first and second side openings 1708, 1710. The first and second side openings 1708, 1710 can provide access to the spherical ball 106 of the ball joint member 100. A side view of the rotatable joint member 300 depicted in FIG. 17B is shown in FIG. 18.

[0057] Figures 19A and 19B illustrate a socket joint retainer 1902 according to various aspects of the present disclosure. The socket joint retainer 1902 can be formed of a rigid material (e.g., metal, plastic, etc.) and can be shaped to fit over and enclose a rotatable joint member 300, as shown in FIG. 19B. The socket joint retainer 1902 can ensure that first and second socket joint elements 302, 304 of the rotatable joint member 300 maintain the second spherical ball 106 of the ball joint member 100 within a socket cavity 308. The socket joint retainer 1902 can prevent the first and second socket joint elements 302, 304 from deflecting outwardly and releasing the second spherical ball 106 from the socket cavity 308 during operation of the rotatable joint member 300 and the ball joint member 100.

[0058] The socket joint retainer 1902 can include a first tab 1912 and a second tab 1914. The first tab 1912 and the second tab 1914 can be inserted into respective tab openings provided on the rotatable joint member 300. For example, the second tab 1914 can be inserted into a tab opening 1908 when the socket joint retainer 1902 is attached onto the rotatable joint member 300. The first and second tabs 1912, 1914 can prevent the socket joint retainer 1902 from detaching from the rotatable joint member 300 during operation of the rotatable joint member 300 and the ball joint member 100.

[0059] As shown in FIG. 19A, the socket joint retainer 1902 can include a first ball joint member opening 1904 and a second ball joint member opening 1906. The first and second ball joint member openings 1904, 1906 can enable the spherical ball 106 of the ball joint member 100 to pass through the socket joint retainer 1902.

[0060] In some aspects of the present disclosure, the socket joint retainer 1902 can include first and second side openings 1909, 1910. The first and second side openings 1909, 1910 can provide access to the spherical ball 106 of the ball joint member 100.

[0061] FIG. 20 is a diagram illustrating a rotatable joint member 2000 according to various aspects of the present disclosure. The rotatable joint member 2000 includes a first socket joint element 2002, a second socket joint element 2004, and a base portion 2006. The first socket joint element 2002 and the second socket joint element 2004 are in spaced-apart positions, and a socket cavity 2008 is provided between these elements. For example, the inner surface of the first socket joint element 2002 can define a first cavity wall 2010, and the inner surface of the second socket joint element 2004 can define a second cavity wall 2012.

[0062] In some aspects of the present disclosure, the first socket joint element 2002 can include a first socket retaining hole 2018, and the second socket joint element 2004 can include a second socket retaining hole 2020. In other aspects of the present disclosure, the first socket joint element 2002 can include a first concave region instead of the retaining hole 2018, and / or the second socket joint element 2004 can include a second concave region instead of the second socket retaining hole 2020. In some aspects of the present disclosure, the base portion 2006 of the rotatable joint member 2000 can include a hole 2022.

[0063] As shown in FIG. 20, the rotatable joint member 2000 includes a socket joint element support wall 2050. In the embodiment described in FIG. 20, the first and second socket joint elements 2002, 2004 can be coupled to the socket joint element support wall 2050. In other embodiments of the present disclosure, one of the first and second socket joint elements 2002, 2004 can be coupled to the socket joint element support wall 2050. In some examples, the socket joint element support wall 2050 can enhance the rigidity of the first and second socket joint elements 2002, 2004, thereby improving the ability of the first and second socket joint elements 2002, 2004 to hold the spherical ball of the ball joint member (e.g., the spherical ball 106 of the ball joint member 100).

[0064] FIG. 21 shows an exemplary implementation of an articulating joint according to various embodiments of the present disclosure. FIG. 21 includes an articulating hand 2100 that includes an articulating thumb finger 2102 and articulating fingers 2104, 2106, 2108, 2110. In some examples, one or more of the articulating fingers 2104, 2106, 2108, 2110 can be controlled using one or more of the articulating joints described herein.

[0065] The articulating hand 2100 includes a link mechanism 2111 for the articulating joint. For example, referring to the detailed view 2114 of a portion 2112 of the articulating hand 2100, the link mechanism 2111 can include at least a first rotatable joint member 2116 and a second rotatable joint member 2118, where the first rotatable joint member 2116 is coupled to the second rotatable joint member 2118 via a ball joint member 2120.

[0066] As shown in FIG. 21, the first spherical ball 2124 of the ball joint member 2120 can be movably fixed within a socket cavity between a first socket joint element 2128 and a second socket joint element 2130 of the first rotatable joint member 2116. The second spherical ball 2126 of the ball joint member 2120 can be movably fixed within a socket cavity between a first socket joint element 2132 and a second socket joint element 2134 of the second rotatable joint member 2118. Rotation of the first rotatable joint member 2116 (e.g., in direction 2136) can cause rotation of the second rotatable joint member 2118 via the ball joint member 2120 according to the principle described in connection with the link mechanism 800 of the articulated joint shown in FIGS. 8A and 8B.

[0067] In some examples, the first rotatable joint member 2116 can be coupled to an actuator 2129 (e.g., a motor) configured to rotate it. For example, the actuator 2129 and the first rotatable joint member 2116 can serve as a crank system for delivering a force (e.g., pushing or pulling) to the ball joint member 2120.

[0068] In some examples, the rotation of the second rotatable joint member 2118 can control the movement of one or more of the connecting fingers 2104, 2106, 2108, 2110. For example, the second rotatable joint member 2118 can include a base portion 2138 configured to rotate about a rod 2140. The base portion 2138 can be coupled to one or more of the connecting fingers 2104, 2106, 2108, 2110 and can function as a load transfer bar for controlling the movement of one or more of the connecting fingers 2104, 2106, 2108, 2110 based on rotation about the rod 2140. Thus, the rotation of the first rotatable joint member 2116 (e.g., in direction 2136 or the opposite direction) can cause the rotation of the second rotatable joint member 2118 about the rod 2140. The rotation of the second rotatable joint member 2118 about the rod 2140 can cause the movement of one or more of the connecting fingers 2104, 2106, 2108, 2110.

[0069] FIG. 22 shows an exemplary implementation of an articulated joint according to various aspects of the present disclosure. FIG. 22 includes an articulated hand 2200 that includes an articulated thumb finger 2202 and connecting fingers 2204, 2206, 2208, 2210. One or more of the connecting fingers 2204, 2206, 2208, 2210 can be controlled using a linkage mechanism 2211 of the articulated joint. For example, the linkage mechanism 2211 of the articulated joint can include at least a first rotatable joint member 2216 and a second rotatable joint member 2218, where the first rotatable joint member 2216 is coupled to the second rotatable joint member 2218 via a ball joint member 2220.

[0070] The first spherical ball of the ball joint member 2220 can be movably fixed within the socket cavity of the first rotatable joint member 2216. The second spherical ball 2222 of the ball joint member 2220 can be movably fixed within the socket cavity of the second rotatable joint member 2218. Rotation of the first rotatable joint member 2216 (e.g., in direction 2230) can cause rotation of the second rotatable joint member 2218 via the ball joint member 2220 according to the principle described in relation to the link mechanism 800 shown in FIGS. 8A and 8B.

[0071] It should be understood that the link mechanism 2211 can include two articulating joints as described herein. For example, the first rotatable joint member 2216 coupled to the ball joint member 2220 can be regarded as the first articulating joint, and the second rotatable joint member 2218 coupled to the ball joint member 2220 can be regarded as the second articulating joint.

[0072] In some examples, the first rotatable joint member 2216 can be coupled to an actuator 2228 (e.g., a motor) configured to rotate it. For example, the first rotatable joint member 2216 can include a base portion 2226 coupled to a rotating element 2229 of the actuator 2228.

[0073] In some examples, the rotation of the second rotatable joint member 2218 can control the movement of one or more of the connecting fingers 2206, 2208, 2210. For example, the second rotatable joint member 2218 can include a base portion 2212, in which case the rod 2214 extends through the base portion 2212. The second rotatable joint member 2218 can rotate around the rod 2214. The base portion 2212 can be coupled to one or more of the connecting fingers 2206, 2208, 2210 via respective ball joint members, and can cause the movement of one or more of the connecting fingers 2206, 2208, 2210 in response to the rotation around the rod 2214. Accordingly, the rotation of the first rotatable joint member 2216 (e.g., in direction 2230 or the opposite direction) can cause the rotation of the second rotatable joint member 2218 around the rod 2214. The rotation of the second rotatable joint member 2218 around the rod 2214 can cause the movement of one or more of the connecting fingers 2206, 2208, 2210. This is illustrated in FIG. 23.

[0074] FIG. 23 illustrates the articulated hand 2200 after the second rotatable joint member 2218 has been rotated about the rod 2214 to its maximum range of motion. As shown in the configuration depicted in FIG. 23, rotation of the second rotatable joint member 2218 to its maximum range of motion can move one or more of the articulated fingers 2206, 2208, 2210 to a rounded position. In some aspects, the linkage mechanism 2211 between the articulated joint and the actuator 2228 described with reference to FIG. 22 can be used to control at least one articulated finger (e.g., the articulated finger 2204) using an independent linkage mechanism between the articulated joint and an actuator 2240 (e.g., a motor). For example, thereby enabling control of the articulated finger 2204 independent of the articulated fingers 2206, 2208, 2210, and thereby enabling the articulated hand 2200 to obtain various finger configurations (e.g., the pointing finger configuration, the clenched fist configuration, and / or other possible finger configurations as shown in FIG. 23).

[0075] Figure 24 illustrates a connected finger 2400 according to various aspects of the present disclosure. The connected finger 2400 described in FIG. 24 can include at least one connected joint link mechanism for controlling its movement. For example, the connected finger 2400 can include a link mechanism 2411 of a connected joint including a first rotatable joint member 2402, a second rotatable joint member 2404, and a ball joint member 2406. The first rotatable joint member 2402 includes a first socket joint element 2410, a second socket joint element 2412, and a base portion 2413. The second rotatable joint member 2404 includes a first socket joint element 2416, a second socket joint element 2418, and a base portion 2419. The ball joint member 2406 can include a rod 2420, a first spherical ball 2408 coupled to the first end of the rod 2420, and a second spherical ball 2414 coupled to the second end of the rod 2420. The first rotatable joint member 2402 can be a fixed rotatable joint member and may not rotate around a rod 2422 inserted through the base portion 2413, and the second rotatable joint member 2404 can rotate around a rod 2424 inserted through the base portion 2419.

[0076] The first spherical ball 2408 of the ball joint member 2406 can be movably fixed within a socket cavity between the first socket joint element 2410 and the second socket joint element 2412 of the first rotatable joint member 2402. The second spherical ball 2414 of the ball joint member 2406 can be movably fixed within a socket cavity between the first socket joint element 2416 and the second socket joint element 2418 of the second rotatable joint member 2404.

[0077] The ball joint member 2450 can be coupled to the third rotatable joint member 2407. The ball joint member 2450 can be moved in a first direction 2452 to rotate the third rotatable joint member 2407 about the rod 2422. The rotation of the third rotatable joint member 2407 can cause the rotation (e.g., in direction 2428) of the second rotatable joint member 2404 via the ball joint member 2406 according to the principles described in connection with the link mechanism 800 shown in FIGS. 8A and 8B. For example, the rod 2420 can transmit a force in direction 2426 to rotate the second rotatable joint member 2404. In some examples, the ball joint member 2450 can be coupled to an actuator configured to move it in the first direction 2452.

[0078] For example, the rotation of the second rotatable joint member 2404 can simulate the natural bending of a finger at a finger joint (e.g., articulated finger 2400). As shown in FIG. 24, a plurality of link mechanisms of the articulated joint (e.g., a link mechanism including the third rotatable joint member 2407, the fourth rotatable joint member 2405, and the corresponding ball joint member 2430) obtain additional degrees of freedom with respect to the articulated finger 2400.

[0079] Figure 25 illustrates an exemplary configuration of a ball joint member within a multi-fingered hand according to various aspects of the present disclosure. Figure 25 includes a first side view of the multi-fingered hand 2500 showing the articulated fingers 2502 and the thumb finger 2503 of the multi-fingered hand 2500. The articulated finger 2502 includes a first ball joint member 2504 and a second ball joint member 2506. The first ball joint member 2504 can raise and lower the articulated finger 2502 at a first joint 2508, and the second ball joint member 2506 can bend a portion 2514 of the articulated finger 2502 at a second joint 2510. The first and second ball joint members 2504, 2506 can be coupled to rotatable joint members (not shown in Figure 25 for ease of illustration) such as the first and second rotatable joint members 300_1, 300_2 described with reference to Figures 8A and 8B.

[0080] Figure 26 includes a second side view of the multi-fingered hand 2500 showing the articulated fingers 2502, 2602, 2604, 2606 and the thumb finger 2503 of the multi-fingered hand 2500 according to various aspects of the present disclosure. In the aspect shown in Figure 26, the ball joint members and other structures included within the articulated fingers 2502, 2602, 2604, 2606 are covered by shell components such as a first shell component 2608 and a second shell component 2610 to simulate the appearance of anatomically correct human fingers. The articulated joints described herein enable the controlled movement of the articulated fingers of the multi-fingered hand 2500 while maintaining realistic proportions of the human hand and / or fingers as described herein.

[0081] Figure 27 includes a second side view of the multi-fingered hand 2500 showing the articulated fingers 2602, 2604, 2606 of the multi-fingered hand 2500 after the articulated fingers 2602, 2604, 2606 have been moved to a curled position. For example, the articulated fingers 2602, 2604, 2606 can be moved to the curled position by lowering and bending each of the articulated fingers 2602, 2604, 2606 as described herein with reference to Figures 28 and 29.

[0082] Figure 28 illustrates a cross-sectional view of the connecting finger 2606 of the connecting hand 2500 in the portion 2616 shown in FIG. 26 according to various aspects of the present disclosure. The connecting hand 2500 includes a link mechanism 2802 of a connecting joint. For example, the link mechanism 2802 of the connecting joint can include at least a first rotatable joint member 2612 and a second rotatable joint member 2804, in which case the first rotatable joint member 2612 is coupled to the second rotatable joint member 2804 via a ball joint member 2806. The first spherical ball 2808 of the ball joint member 2806 can be movably fixed within a socket cavity between a first socket joint element 2810 and a second socket joint element 2812 of the first rotatable joint member 2612. The second spherical ball 2814 of the ball joint member 2806 can be movably fixed within the socket cavity of the second rotatable joint member 2804. The connecting finger 2606 can be raised and lowered using the link mechanism 2802 of the rotatable joint member.

[0083] For example, the rotation of the first rotatable joint member 2612 (e.g., in the direction 2824 around the rod 2820) can cause the rotation of the second rotatable joint member 2804 via the ball joint member 2806 according to the principles described in connection with the link mechanism 800 of the connecting joint shown in FIGS. 8A and 8B. For example, the second rotatable joint member 2804 can rotate around the rod 2818. In some examples, the first rotatable joint member 2612 can be coupled to an actuator 2845 (e.g., a motor) via a ball joint member 2822, in which case the actuator 2845 is configured to rotate the first rotatable joint member 2612 around the rod 2820.

[0084] As shown in FIG. 28, the articulated hand 2500 can include a fixed joint member 2815 configured to movably secure the first spherical ball 2830 of the ball joint member 2828. For example, the first spherical ball 2830 can be movably secured within a socket cavity 2614 formed between a first socket joint element 2834 of the fixed joint member 2815 and a second socket joint element (not shown in the cross-sectional view described in FIG. 28).

[0085] The second spherical ball 2836 of the ball joint member 2828 can be movably secured within a socket cavity 2842 of a third rotatable joint member 2840. For example, the second socket cavity 2842 can be formed between a first socket joint element 2844 of the third rotatable joint member 2840 and a second socket joint element (not shown in the cross-sectional view described in FIG. 28). Note that the third rotatable joint member 2840 and the ball joint member 2828 can form an articulated joint according to the aspects described herein.

[0086] Downward movement of the second rotatable joint member 2804 (e.g., rotation in the downward direction 2826 around the rod 2818) can also cause downward movement of the third rotatable joint member 2840 and the ball joint member 2828. Since the first spherical ball 2830 of the ball joint member 2828 is movably fixed within the socket cavity 2614 of the fixed joint member 2815, the ball joint member 2828 can pull the third rotatable joint member 2840 as the second rotatable joint member 2804 rotates in the downward direction 2826 around the rod 2818, and further rotate the third rotatable joint member 2840 in the downward direction 2846 around the rod 2848. Thus, in one example, the third rotatable joint member 2840 can rotate in the downward direction 2846 around the rod 2848 as the second rotatable joint member 2804 rotates in the downward direction 2826 around the rod 2818. In another example, the third rotatable joint member 2840 can rotate in the upward direction around the rod 2848 as the second rotatable joint member 2804 rotates in the upward direction around the rod 2818.

[0087] Thus, in some examples, rotation of the second rotatable joint member 2804 in the downward direction 2826 around the rod 2818 can bend the connecting finger 2606 with the rod 2848. This is illustrated in FIG. 29. FIG. 29 includes a cross-sectional view of the connecting finger 2606 shown in FIG. 28 after the connecting finger 2606 has been moved downward and bent with the rod 2848.

[0088] FIG. 30 illustrates a bottom view of the articulated hand 2500 including a plurality of articulated joints according to various aspects of the present disclosure. As shown in the detailed view of the articulated finger 2606, the second spherical ball 2836 of the ball joint member 2828 can be movably fixed within the socket cavity 2842 of the third rotatable joint member 2840. For example, the second socket cavity 2842 can be formed between the first socket joint element 2844 and the second socket joint element 3045 of the third rotatable joint member 2840.

[0089] FIG. 31 illustrates the configuration of a ball joint member within the articulated finger 3102 according to various aspects of the present disclosure. As shown in FIG. 31, the articulated finger 3102 depicted in FIG. 31 can include a first movable portion 3109, a second movable portion 3110, and a third movable portion 3114. A first ball joint member 3104 can be positioned within the first movable portion 3109, and a second ball joint member 3106 can be positioned within the second movable portion 3110. In some examples, the first ball joint member 3104 can enable the raising and lowering of the articulated finger 3102. For example, by lowering the first ball joint member 3104 in a first direction 3115, the first, second, and third movable portions 3109, 3110, 3114 of the articulated finger 3102 can be lowered.

[0090] In the configuration depicted in FIG. 31, as the first ball joint member 3104 is lowered in the first direction 3115, the second movable portion 3110 of the articulated finger 3102 is rotated in a second direction 3116 around the rod 3108. The second ball joint member 3106 can rotate the third movable portion 3114 in a third direction 3118 around the rod 3112 as it is lowered in the second direction 3116.

[0091] Note that the configurations of the first and second ball joint members 3104, 3106 provide three degrees of freedom in the connecting finger 3102. Thus, in some examples, by lowering the connecting finger 3102 and rotating the second and third movable parts 3110, 3114, the natural curling motion of a human finger can be simulated.

[0092] FIG. 32 illustrates a cross-sectional view of a connecting finger 3202 according to various aspects of the present disclosure. In some examples, the connecting finger 3202 can be implemented within a connecting hand 3200 (shown only partially for ease of illustration).

[0093] The connecting finger 3202 can be raised and lowered using the link mechanism 3203 of the connecting joint according to the aspects described herein. For example, the link mechanism 3203 of the connecting joint can include at least a first rotatable joint member 3204 and a second rotatable joint member 3226, in which case the first rotatable joint member 3204 is coupled to the second rotatable joint member 3226 via a ball joint member 3206. The ball joint member 3206 includes a rod 3220, a first spherical ball 3210, and a second spherical ball 3216.

[0094] The first spherical ball 3210 of the ball joint member 3206 can be movably fixed within a socket cavity between a first socket joint element 3212 and a second socket joint element 3214 of the first rotatable joint member 3204. The second spherical ball 3216 of the ball joint member 3206 can be movably fixed within the socket cavity of the second rotatable joint member 3226. The connecting finger 3202 can be raised and lowered using the link mechanism 3203 of the connecting joint.

[0095] Rotation of the first rotatable joint member 3204 (e.g., in direction 3218) can cause rotation of the second rotatable joint member 3226 via the first ball joint member 3206 according to the principles described in connection with the linkage mechanism 800 shown in FIGS. 8A and 8B. For example, the second rotatable joint member 3226 can rotate about rod 3222. In some examples, the first rotatable joint member 3204 can be coupled to an actuator such as a motor configured to rotate it.

[0096] As shown in FIG. 32, the articulated hand 3200 can include a fixed joint member 3229 configured to movably secure the first spherical ball 3228 of the second ball joint member 3208. The second ball joint member 3208 includes a rod 3234, a first spherical ball 3228, and a second spherical ball 3232. For example, the first spherical ball 3228 can be movably secured within a socket cavity 3227 formed between a first socket joint element 3230 of the fixed joint member 3229 and a second socket joint element (not shown in the cross-sectional view depicted in FIG. 32).

[0097] The second spherical ball 3232 of the second ball joint member 3208 can be movably secured within a socket cavity 3239 of the third rotatable joint member 3240. For example, the second socket cavity 3239 can be formed between a first socket joint element 3241 of the third rotatable joint member 3240 and a second socket joint element (not shown in the cross-sectional view depicted in FIG. 28). Note that the third rotatable joint member 3240 and the second ball joint member 3208 can form an articulated joint according to the aspects described herein.

[0098] Downward movement of the second rotatable joint member 3226 (e.g., rotation in the downward direction 3224 around the rod 3222) can also cause downward movement of the third rotatable joint member 3240 and the second ball joint member 3208. Since the first spherical ball 3228 of the second ball joint member 3208 is movably fixed within the socket cavity 3227 of the fixed joint member 3229, the second ball joint member 3208 can pull the third rotatable joint member 3240 as the second rotatable joint member 3226 rotates in the downward direction 3224 around the rod 3222, and further rotate the third rotatable joint member 3240 in the downward direction 3238 around the rod 3236. Thus, in one example, the third rotatable joint member 3240 can rotate in the downward direction 3238 around the rod 3236 as the second rotatable joint member 3226 rotates in the downward direction 3224 around the rod 3222. In another example, the third rotatable joint member 3240 can rotate in the upward direction around the rod 3236 as the second rotatable joint member 3226 rotates in the upward direction around the rod 3222. Thus, in some examples, rotation of the second rotatable joint member 3226 in the downward direction 3224 around the rod 3222 can bend the connecting finger 3202 with the rod 3236.

[0099] FIG. 33 illustrates a cross-sectional view of a connecting finger 3302 according to various aspects of the present disclosure. In some examples, the connecting finger 3302 can be implemented within the connecting hand 3100 (shown only partially for ease of illustration). For example, the connecting finger 3302 can be implemented as the index finger of the connecting hand 3100, while the connecting finger 3102 can be implemented as the middle finger of the connecting hand 3100. This is shown in the side view of the connecting hand 3100 described in FIG. 33 herein.

[0100] The connecting finger 3302 can include a first rotatable joint member 3318, a second rotatable joint member 3330, and a third rotatable joint member 3336. A first ball joint member 3304 can be located within the first rotatable joint member 3318, and a second ball joint member 3322 can be located within the second rotatable joint member 3330. In some examples, the first ball joint member 3304 can enable the raising and lowering of the connecting finger 3302. For example, when the third ball joint member 3314 is retracted in the direction 3316, the first ball joint member 3304 can be lowered in the downward direction 3320 to lower the first, second, and third movable portions 3318, 3330, 3336 of the connecting finger 3302.

[0101] As shown in FIG. 33, the connecting hand 3100 can include a fixed joint member 3307 configured to movably secure the first spherical ball 3306 of the first ball joint member 3304. The first ball joint member 3304 includes a rod 3310, a first spherical ball 3306, and a second spherical ball 3308. For example, the first spherical ball 3306 can be movably secured within a socket cavity (e.g., socket cavity 3327 shown in FIG. 33) of the fixed joint member 3307, and the second spherical ball 3308 can be movably secured within a socket cavity of the second rotatable joint member 3330. Note that the second rotatable joint member 3330 and the second ball joint member 3308 can form a connecting joint according to the aspects described herein.

[0102] The downward movement of the first rotatable joint member 3318 (e.g., rotation in the downward direction 3320 around the rod 3312) can also cause the downward movement of the second rotatable joint member 3330 and the first ball joint member 3304. Since the first spherical ball 3306 of the first ball joint member 3304 is movably fixed within the socket cavity of the fixed joint member 3307, the first ball joint member 3304 can pull the second rotatable joint member 3330 as the first rotatable joint member 3318 rotates in the downward direction 3320 around the rod 3312, and can further rotate the second rotatable joint member 3330 in the downward direction 3334 around the rod 3332.

[0103] In one example, the second rotatable joint member 3330 can rotate in the downward direction 3334 around the rod 3332 as the first rotatable joint member 3318 rotates in the downward direction 3320 around the rod 3312. In another example, the second rotatable joint member 3330 can rotate in the upward direction around the rod 3332 as the first rotatable joint member 3318 rotates in the upward direction around the rod 3312. Thus, in some examples, the rotation of the first rotatable joint member 3318 in the downward direction 3320 around the rod 3312 can bend the connecting finger 3302 with the rod 3332.

[0104] The second ball joint member 3322 includes a rod 3328, a first spherical ball 3324, and a second spherical ball 3326. For example, the first ball joint member 3324 can be movably fixed within the socket cavity of the first rotatable joint member 3318. The second spherical ball 3326 of the second ball joint member 3322 can be movably fixed within the socket cavity of the third rotatable joint member 3336. Note that the third rotatable joint member 3336 and the second ball joint member 3322 can form a connecting joint according to the aspects described herein.

[0105] Accordingly, in the configuration shown in FIG. 33, the first ball joint member 3304 can rotate the second ball joint member 3322 of the connecting finger 3302 in a second direction 3334 around the rod 3332 as it is lowered in the downward direction 3320. The second ball joint member 3322 can rotate the third rotatable joint member 3336 in a third direction 3340 around the rod 3338 as it is lowered in the second direction 3334.

[0106] Note that the configuration of the first and second ball joint members 3304, 3322 gives three degrees of freedom in the connecting finger 3302. Thus, in some examples, by lowering the connecting finger 3302 and rotating the second and third movable parts 3330, 3336, the natural curling motion of a human finger can be simulated.

[0107] The connecting joint described herein enables the connecting hand (e.g., the connecting hand 2500 shown in FIGS. 25-27) to have a range of motion comparable to the natural range of motion of a human hand while maintaining the realistic size and / or scale of a human hand. For example, referring to the connecting finger 2502 shown in FIG. 27, the shell components 2702, 2704 forming the connecting finger 2502 are rotatable ball joint members of the connecting joint described herein, and thus can be formed to reproduce the shape, size, and / or scale of a human finger while enabling connection. Similarly, the remaining connecting fingers 2602, 2604, 2606, the thumb finger 2503, and / or the entire connecting hand 2500 can be formed according to the proper shape, size, and / or scale of a human hand.

[0108] In some exemplary implementations, a skin glove can be attached onto the articulated hand 2500. In such implementations, one or more fasteners (e.g., magnets, snaps, etc.) can be embedded within and / or attached to the outer surface of the articulated hand 2500 so that the skin glove can be fitted like a glove and fixed in place. In some examples, the skin glove can comprise a silicone material having the appearance (e.g., color, texture, shape, etc.) of a human hand.

[0109] In some aspects, a fabric layer and / or fabric pads of stretchable material (e.g., SPANDEX) can be disposed between the skin glove and the outer surface of the articulated hand 2500 to further enhance the realistic appearance of the articulated hand 2500. In some aspects, the pads can be used (woven into the stretchable material fabric layer) under the skin glove to protect the skin glove from mechanical components (e.g., shell components 2702, 2704). The pads can be used to cover any gaps on the outer surface of the articulated hand 2500 so as to help maintain a nice deformation and protect the material of the skin glove from the movement of the articulated hand 2500 (e.g., the movement of shell components 2702, 2704). In some examples, the skin glove can be replaced with a dress glove (e.g., a fashion glove) or other suitable types of gloves. The articulated thumb finger 2503 can be moved in and out of a “maintenance” position so that the skin glove (or dress glove) can be put on and taken off.

[0110] In some examples, the skin glove can have a thickness in the range from 1.27 mm to 5.08 mm. The thickness of the skin glove can be selected to accommodate one or more built-in fasteners (e.g., magnets, snaps, etc.) that enable attachment of the skin glove to corresponding fasteners on the articulated hand 2500. In some examples, the length of the skin glove can be shorter than the overall length of the articulated hand 2500 to allow for stretching and a snug fit to simulate the appearance of human skin. In some examples, the thickness of the skin glove can be selected based on the size of the figure to which the articulated hand 2500 is attached and the amount of stretch required.

[0111] In some aspects of the present disclosure, some stationary portions of the articulated hand 2500 can be solid castings having wiring on the inside. In some examples, the length and / or thickness of the skin glove can be selected to conform to the articulated hand 2500 while in a neutral posture, thereby allowing for further stretching of the skin glove and thereby reducing any folding or buckling.

[0112] The exemplary implementations of the articulated joints described herein with reference to FIGS. 21 - 33 pertain to an articulated hand (e.g., the articulated hand 2500), but it should be understood that the design concepts described with respect to the articulated hand can be applied to other moving show elements such as the legs of a moving octopus, the tail of a moving cat, and / or other limbs or features of a moving show element. For example, a plurality of articulated joints can be connected to each other to form the limbs of a show element, thereby providing some degrees of freedom of movement with respect to the limbs while obtaining an appropriate size and / or scale.

[0113] FIG. 34 is an exemplary perspective view of a rotatable joint member 3400 when a ball joint member 100 is movably fixed within a socket cavity 3408, according to various aspects of the present disclosure. The rotatable joint member 3400 includes a first socket joint element 3402, a second socket joint element 3404, and a base portion 3406. The first and second socket joint elements 3402, 3404 are coupled to the base portion 3406 and are spaced apart to define a socket cavity 3408 therebetween.

[0114] In some aspects of the present disclosure, the first and second socket joint elements 3402, 3404 can include socket retaining holes such as socket retaining hole 3420. In other aspects of the present disclosure, the first and second socket joint elements 3402, 3404 can include recessed regions instead of retaining holes. In some aspects of the present disclosure, the base portion 3406 of the rotatable joint member 3400 can include a hole 3422. In some examples, a rod can be disposed to pass through the hole 3422 such that the rotatable joint member 3400 is free to rotate about the rod.

[0115] The first and second socket joint elements 3402, 3404 can further include openings 3407, 3409 for a fastener 3450. In some examples, the openings 3407, 3409 can be holes having the same diameter or different diameters. In one example, as shown in FIG. 34, the fastener 3450 can be a screw. The fastener 3450 can be inserted through the openings 3407, 3409 after the spherical ball (e.g., the second spherical ball 106) of the ball joint member 100 is movably fixed within the socket cavity 3408. This is shown in FIG. 35.

[0116] FIG. 35 is an exemplary perspective view of a rotatable joint member 3400 in which a ball joint member 100 is movably fixed within a socket cavity 3408 and a fastener 3450 is inserted through openings 3407, 3409 of first and second socket joint elements 3402, 3404, according to various aspects of the present disclosure. In some examples, the openings 3407, 3409 can be threaded holes such that a fastener 3450 (e.g., a screw) can be firmly retained within the openings 3407, 3409.

[0117] The fastener 3450 can be inserted through the openings 3407, 3409 to prevent the first socket joint element 3402 and the second socket joint element 3404 from spreading apart (e.g., during use of the rotatable joint member 3400), rather than pressing the first socket joint element 3402 and the second socket joint element 3404 together. For example, the fastener 3450 can prevent the first socket joint element 3402 and the second socket joint element 3404 from spreading apart and inadvertently releasing the ball joint member 100 (e.g., in a scenario where the ball joint member 100 is pulled in direction 3460 with a significant force).

[0118] FIG. 36 is an exemplary cross-sectional view along line 35-35 of the rotatable joint member 3400 and the ball joint member 100 shown in FIG. 35. As shown in FIG. 36, the fastener 3450 can prevent the first socket joint element 3402 and the second socket joint element 3404 from spreading apart and firmly maintain the second spherical ball 106 of the ball joint member 100 within the socket cavity 3408.

[0119] FIG. 37 is a flowchart showing an exemplary process 3700 for constructing an articulated joint, according to various aspects of the present disclosure. In some examples, the process 3700 can be performed by any suitable device or by means for performing the operations described below.

[0120] In block 3702, the process includes coupling a first rotatable joint member including a first socket cavity to a first shaft member.

[0121] In block 3704, the process includes coupling a second rotatable joint member including a second socket cavity to a second shaft member.

[0122] In block 3706, the process includes coupling the first rotatable joint member to the second rotatable joint member using an elongate member having a first end with a spherical shape and a second end with a spherical shape. The first end of the elongate member is movably fixed within the first socket cavity, and the second end of the elongate member is movably fixed within the second socket cavity. In some examples, the elongate member is configured to rotate the second rotatable joint member in response to rotation of the first rotatable joint member.

[0123] In block 3708, the process optionally includes coupling an actuator device to the first rotatable joint member.

[0124] Within the scope of the present disclosure, the term "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation or aspect described herein as "exemplary" should not necessarily be construed as more preferred or beneficial than other aspects of the present disclosure. Similarly, the term "aspect" does not require that all aspects of the present disclosure include the features, advantages, or modes of operation being described. As used herein, the term "coupled" is used to mean either a direct or an indirect connection between two objects. For example, if object A physically contacts object B, and further object B contacts object C, then even though these objects are not in physical direct contact with each other, object A and object C can still be considered to be coupled to each other. For example, a first object can be coupled to a second object even if the first object never physically comes into direct contact with the second object.

[0125] One or more of the components, steps, features, and / or functions illustrated in FIGS. 1 to 37 can be rearranged and / or combined into a single component, step, feature, or function, or implemented with several components, steps, or functions. Further elements, components, steps, and / or functions can also be added without departing from the novel features disclosed herein. The apparatuses, devices, and / or components illustrated in FIGS. 1 to 37 can be configured to implement one or more of the methods, features, or steps described herein. The novel algorithms described herein can be implemented more efficiently in software and / or embedded within hardware.

[0126] It should be understood that the specific order or hierarchical structure of the steps in the method of the present disclosure is an example of an exemplary process. It should be understood that based on design preferences, the specific order or hierarchical structure of the steps in the method can be rearranged. The appended method claims present the elements of the various steps in an exemplary order as samples and are not intended to be limited to that order or hierarchical structure unless specifically stated to be in the presented order or hierarchical structure.

[0127] The foregoing description has been presented to enable a person skilled in the art to make and use the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein but are to be accorded the widest scope consistent with the language of the claims, and the singular forms of articles are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "some" means one or more. When referring to "at least one" of a listed item, it means any combination of these items, including a single unit. For example, "at least one of a, b, or c" is intended to include a, b, c, a and b, a and c, b and c, and a and b and c. All structural and functional equivalents known or later discovered to those of ordinary skill in the art of the elements of the various aspects described throughout this disclosure are hereby expressly incorporated by reference and are intended to be encompassed by the claims. Further, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims. No claim element is to be construed under the provisions of 35 U.S.C. 112, sixth paragraph, unless the element is expressly recited using the phrase "means for" or, in the case of a method claim, the phrase "steps for."

Explanation of Signs

[0128] 100 Ball joint member 102 Bar 102 First spherical ball 106 Second spherical ball 300 Rotatable joint member 302 First socket joint element 304 Second socket joint element 306 Base portion 308 Socket Cavity 320 Second Socket Retaining Hole 322 Hole 324 Rod 325 Shaft 350 Connecting Joint 502 First Vertical Direction 504 Second Vertical Direction 602 First Lateral Direction 604 Second Lateral Direction

Claims

1. It is a connecting joint, A first rotatable joint member comprising a first socket cavity located between a first wall defining a first recessed region and a second wall defining a second recessed region, wherein the first wall faces the second wall such that the first recessed region aligns with the second recessed region and is spaced apart by a first distance, and the first rotatable joint member comprises a first axis offset from the first recessed region in a first direction transverse to the first distance, A second rotatable joint member comprising a second socket cavity located between a third wall defining a third recessed region and a fourth wall defining a fourth recessed region, wherein the third wall faces the fourth wall such that the third recessed region aligns with the fourth recessed region and is separated by a second distance, and the second rotatable joint member comprises a second axis offset from the third recessed region in a second direction transverse to the second distance, An elongated member comprising a first end having a first spherical shape and a second end having a second spherical shape, wherein the first socket cavity is configured to receive force from the first spherical shape of the first end between a first recessed region and a second recessed region, and the second socket cavity is configured to receive force from the second spherical shape of the second end between a third recessed region and a fourth recessed region, Equipped with, The elongated member is configured to rotate the second rotatable joint member around the second axis in accordance with the rotation of the first rotatable joint member around the first axis. Joint.

2. The connecting joint according to claim 1, wherein the first recessed region is formed by a first passage extending through the first wall of the first rotatable joint member, and the second recessed region is formed by a second passage extending through the second wall of the first rotatable joint member.

3. The connecting joint according to claim 1, wherein the third recessed region is formed by a third passage extending through the third wall of the second rotatable joint member, and the fourth recessed region is formed by a fourth passage extending through the fourth wall of the second rotatable joint member.

4. An actuator device configured to be coupled to the first rotatable joint member and to perform rotation of the first rotatable joint member, The connecting joint according to claim 1, further comprising the following:

5. The connecting joint according to claim 1, wherein the elongated member is connected to the first spherical shape at the first end and the second spherical shape at the second end, and comprises a rod extending between them.

6. The connecting joint according to claim 1, wherein at least one of the first end or the second end of the elongated member includes a hole through which a retaining wire is fed.

7. The connecting joint according to claim 6, wherein the hole includes a conical opening.

8. The connecting joint according to claim 1, further comprising a socket joint retainer fitted over the first rotatable joint member or the second rotatable joint member, wherein the socket joint retainer is configured to maintain the elongated member within the first rotatable joint member or the second rotatable joint member.

9. The connecting joint according to claim 1, wherein the first rotatable joint member or the second rotatable joint member includes a support wall, and the support wall increases the rigidity of the first wall and the second wall of the first rotatable joint member, or the third wall and the fourth wall of the second rotatable joint member.

10. It is a connecting joint, A rotatable joint member comprising a socket cavity located between a first wall defining a first recessed region and a second wall defining a second recessed region, wherein the first wall faces the second wall and is spaced a distance from the second wall, and the rotatable joint member is configured to rotate around an axis, An elongated member having at least one spherical end, wherein the socket cavity is configured to receive and accept force on the at least one end between a first recessed region and a second recessed region, and the angular movement and / or linear movement of the elongated member is configured to rotate the rotatable joint member around the axis, A connecting joint equipped with this feature.

11. The connecting joint according to claim 10, wherein the first recessed region is located within the first wall of the rotatable joint member, and the second recessed region is located within the second wall of the rotatable joint member.

12. The connecting joint according to claim 10, wherein the rotatable joint member includes a support wall, and the support wall increases the rigidity of the first wall and the second wall of the rotatable joint member.

13. The connecting joint according to claim 10, wherein the elongated member is configured to rotate the rotatable joint member around the axis in accordance with the operation of the actuator device.

14. The connecting joint according to claim 10, wherein the elongated member includes a first end having a spherical shape and a second end having a spherical shape, the first end having a spherical shape being movably fixed within the socket cavity of the rotatable joint member and the second end having a spherical shape being movably fixed within an additional socket cavity of a fixed joint member.

15. The connecting joint according to claim 14, wherein the elongated member is configured to rotate the rotatable joint member around the axis in response to the movement of the rotatable joint member.

16. The connecting joint according to claim 10, wherein the connecting joint is included in the connecting finger of the connecting hand.

17. The system further comprises a socket joint retainer that covers and is fitted over the rotatable joint member and is configured to maintain the elongated member within the rotatable joint member. The connecting joint according to claim 10.

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