DETAILED ACTION
Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Information Disclosure Statement
The information disclosure statement (IDS) submitted on April 5, 2023, April 24, 2023, February 5, 2024, February 7, 2024, and May 6, 2024 is in compliance with the provisions of 37 CFR 1.97. Accordingly, the information disclosure statement is being considered by the examiner.
Claim Rejections - 35 USC § 102
In the event the determination of the status of the application as subject to AIA 35 U.S.C. 102 and 103 (or as subject to pre-AIA 35 U.S.C. 102 and 103) is incorrect, any correction of the statutory basis (i.e., changing from AIA to pre-AIA ) for the rejection will not be considered a new ground of rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same under either status.
The following is a quotation of the appropriate paragraphs of 35 U.S.C. 102 that form the basis for the rejections under this section made in this Office action:
A person shall be entitled to a patent unless –
(a)(1) the claimed invention was patented, described in a printed publication, or in public use, on sale, or otherwise available to the public before the effective filing date of the claimed invention.
Claims 1-13 are rejected under 35 U.S.C. 102(a)(1) as being anticipated by Koyama et al (https://kk-hs-sa.website/research/maglinkage/index-j.html).
As to claim 1, Koyama et al discloses an actuator unit, see annotated figure (b) below, comprising a motor; a first magnetic gear connected to a rotating shaft of the motor; a second magnetic gear configured to be magnetically engaged with the first magnetic gear; and a planetary reducer connected to a rotating shaft of the second magnetic gear.
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With claim 2, the motor includes an encoder configured to measure an amount of reverse rotation of the rotating shaft of the motor (the reverse rotation angle can be measured by the encoder on the motor side – see Maglinkage paragraph), the reverse rotation occurring when an external force torque acts on an output shaft of the planetary reducer.
With claim 3, a control circuit configured to control, in accordance with the amount of the reverse rotation measured by the encoder (performing stiffness control (spring behavior) and damping control (damper behavior) based on the reverse rotation angle, It is possible to control the maintenance of contact with an object after collision (shock absorption control) - see Maglinkage paragraph), the motor so as to absorb an impact torque acting on the output shaft of the planetary reducer.
With claim 4, the control circuit is further configured to control the motor to compensate a cogging torque generated at a timing of switching of magnetic poles of the first magnetic gear and the second magnetic gear engaged with each other (By using magnet gears, low backlash and low friction are achieved. In addition, when an overload is applied, the magnet gear slides and acts as a torque limiter. - see Maglinkage paragraph).
With claim 5, the first magnetic gear and the second magnetic gear carry out orthogonal conversion of rotation of the motor (magnet gear with orthogonal shaft conversion type – see Maglinkage paragraph).
As to claim 6, Koyama et al discloses a link mechanism, see annotated figure (a) below, comprises a first link; a first joint connected to a first end of the first link; a second joint connected to a second end of the first link; and a second link having a first end connected to the second joint, each of the first joint and the second joint including an actuator unit recited in claim 1.
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With claim 7, a control circuit configured to control the motor to compensate a cogging torque generated at a timing of switching of magnetic poles of the first magnetic gear and the second magnetic gear of the first joint engaged with each other (By using magnet gears, low backlash and low friction are achieved. In addition, when an overload is applied, the magnet gear slides and acts as a torque limiter. - see Maglinkage paragraph).
With claim 8, a control circuit configured to carry out (i) a damping control for the actuator unit of the first joint so that a force of a virtual damper acts on a second end of the second link and (ii) a compliance control for the actuator unit of the second joint so that a force of a virtual spring acts on the second end of the second link (By performing stiffness control (spring behavior) and damping control (damper behavior) based on the reverse rotation angle, It is possible to control the maintenance of contact with an object after collision (shock absorption control) - see Maglinkage paragraph).
With claim 9, Koyama et al shows (see annotated figure (a) above) a third link; a third joint connected to a first end of the third link; a fourth joint connected to a second end of the third link; and a fourth link having a first end connected to the fourth joint, each of the third joint and the fourth joint including an actuator unit recited in claim 1.
With claim 10, a control circuit configured to execute, in order to grasp an object with a small shock, (i) a first phase that carries out a damping control for the first joint and carries out a compliance control for the second joint, (ii) a second phase that carries out a position control for the third joint and causes the fourth joint to get closer to the object, and (iii) a third phase that carries out a position control for the first joint and carries out a position control for the third joint so that a variation occurring in a virtual spring as a result of a compliance control for the fourth joint becomes constant, the first phase, the second phase, and the third phase being executed in this order (see Shock absorption control paragraph and Low-impact, non-stop gripping paragraph).
With claim 11, a control circuit configured to carry out, in order to grasp an object with a small shock, a damping control for the first joint and a compliance control for the second joint as well as an angle control for the third joint and a compliance control for the fourth joint and then to control the first to fourth joints by a model constructed by a virtual spring and a virtual damper connected in parallel (see Shock absorption control paragraph and Low-impact, non-stop gripping paragraph) .
With claim 12, the first joint is a proximal interphalangeal joint of a robot hand; and the second joint is a distal interphalangeal joint of the robot hand.
With claim 13, the first joint, the first link, the second joint, and the second link are interpreted to be a first finger of a robot hand (see Background and Outline paragraph as the elements are related for robot hands); and the third joint, the third link, the fourth joint, and the fourth link are interpreted to be a second finger of the robot hand.
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure. Schulz, Gosselin, Laliberte, Liu, Howell, and Park are cited being relevant art, because each prior art discloses a link mechanism comprising first and second links, first and second joints, and an actuator unit.
Any inquiry concerning this communication or earlier communications from the examiner should be directed to STEPHEN VU whose telephone number is (571)272-1961. The examiner can normally be reached Monday-Friday, 7:00 am - 3:30 pm EST.
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If attempts to reach the examiner by telephone are unsuccessful, the examiner’s supervisor, Victoria Augustine can be reached at (313) 446-4858. The fax phone number for the organization where this application or proceeding is assigned is 571-273-8300.
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STEPHEN VU
Primary Examiner
Art Unit 3654
/STEPHEN A VU/Primary Examiner, Art Unit 3654