Roger D Quinn, 662853 Ira Rd, Akron, OH 44333

6964309, Nov 15, 2005

Jun 3, 2002

10/161530

Roger D. Quinn - Akron OH, US
Daniel A. Kingsley - Dublin OH, US
John T. Offi - Rockford IL, US
Roy E. Ritzmann - Cleveland Hts OH, US

BioRobots, LLC - Cleveland Heights OH

B62D051/06

180 81, 180 85, 180 86

A vehicle that is propelled by as few as one actuator through a compliant drive train can move quickly on relatively smooth terrain and can climb obstacles. The body of the vehicle may consist of a single segment or multiple segments connected by articulating joints. The driving appendages can take different forms including legs or specialized legs with multiple spokes attached to a rotating hub. The driving appendages can be propelled by as few as one actuator. The driving appendages are each serially connected to their actuator(s) by a compliant device. The compliant devices permit relative motion between driving appendages that share the same actuator. A springably biased compliant device maintains nominal-desired phasing among driving appendages until one of them is forcibly perturbed. The phasing of the driving appendages, or gait, adapts to the terrain. Mechanical stops limit the excursion of the compliant device such that a new desirable leg phasing is reached for climbing large obstacles.

7249640, Jul 31, 2007

May 13, 2004

10/845583

Andrew D. Horchler - Cleveland OH, US
Roger D. Quinn - Akron OH, US
Bram Lambrecht - Cleveland Heights OH, US
Jeremy M. Morrey - Denver CO, US

B62D 57/02

180 86, 180 81, 180 85, 180 71

The present invention relates to novel, highly mobile small robots called “Mini-WHEGS™” that can run and jump. They are derived from our larger WHEGS™(“wheel-like lecis”) series of robots, which benefit from abstracted cockroach locomotion principles. Part of their success is derived from the three spoked appendages, called “WHEGS™”, which combine the speed and simplicity of wheels with the climbing mobility of legs. To be more compact than the larger WHEGS™ vehicles, Mini-WHEGS™ uses four wheel-like legs in an alternating diagonal gait. These 9 cm long robots can run at sustained speeds of over 10 body lengths per second and climb obstacles that are taller than their leg length. They can run forward and backward, on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight.

7857369, Dec 28, 2010

Jun 30, 2005

11/172526

Hillel Judah Chiel - University Heights OH, US
Randall Dean Beer - South Enclid OH, US
Elizabeth Victoria Mangan - Cleveland Heights OH, US
Roger D. Quinn - Akron OH, US
Gregory Patrick Sutton - Cleveland Heights OH, US

Case Western Reserve University - Cleveland OH

B66C 1/42
A61B 17/22

294 864, 606159, 60410101

A flexible gripping device including a plurality of pneumatic actuator rings. A grasper element is disposed within the plurality of pneumatic actuator rings and adapted to move back and forth within the actuator rings.

8235924, Aug 7, 2012

Apr 16, 2010

12/761945

Richard Bachmann - Cleveland OH, US
Ronald Triolo - Cleveland Heights OH, US
Arkady Polinkovsky - Cleveland OH, US
Nicole Kern - Cleveland Heights OH, US
Roger D. Quinn - Akron OH, US
Rudolf Kobetic - Rocky River OH, US

Case Western Reserve University - Cleveland OH

A61F 5/00

602 16, 602 23, 602 27

An orthotic brace () for a joint includes a bracing device () having first and second portions () movable relative to one another and a mechanism () for placing the bracing device () in a first condition in which the first portion () has a first resistance to movement relative to the second portion () and a second condition in which the first portion () has a second, different resistance to movement relative to the second portion (). The mechanism () is capable of placing the bracing device () in a third condition in which the first portion () has a third resistance to movement relative to the second portion () that is between the first and second resistance.

8245799, Aug 21, 2012

Apr 15, 2010

12/761154

Hillel Judah Chiel - University Heights OH, US
Roger D. Quinn - Akron OH, US
Alexander Boxerbaum - Cleveland OH, US

Case Western Reserve University - Cleveland OH

B25J 11/00

180 71, 901 1

An apparatus for locomotion includes an elongate body member defining a longitudinal axis and having oppositely disposed first and second body ends separated by a body lumen. A power source is operative to selectively provide motive power to the apparatus by changing a lateral cross-sectional area of the body member in at least one actuation location to produce at least one peristaltic wave propagated through the body member substantially along the longitudinal axis. The peristaltic wave is a substantially smooth wave. The peristaltic wave causes the body member to interact with an ambient environment and provide longitudinally oriented locomotion to the apparatus. A method for locomotion is also described.

8500179, Aug 6, 2013

Dec 6, 2010

12/961081

Hillel Judah Chiel - University Heights OH, US
Randall Dean Beer - South Euclid OH, US
Elizabeth Victoria Mangan - Cleveland Heights OH, US
Roger D. Quinn - Akron OH, US
Gregory Patrick Sutton - Cleveland Heights OH, US

Case Western Reserve University - Cleveland OH

B66C 1/42
A61B 17/22

294 864, 606159, 60410101

One aspect of the present invention includes a flexible gripping device. The flexible gripping device includes a plurality of pneumatic actuator rings and a grasper element disposed within the plurality of pneumatic actuator rings. The grasper element is adapted to move back and forth within the actuator rings.

2003006, Apr 3, 2003

May 8, 2002

10/140371

Hillel Chiel - University Heights OH, US
Roger Quinn - Akron OH, US
Randall Beer - South Euclid OH, US
Elizabeth Mangan - Dublin OH, US

Case Western Reserve University - Cleveland OH

A61B001/00

600/115000

Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.

2012021, Aug 23, 2012

Jul 1, 2010

13/380413

Alexander Schepelmann - Pittsburgh PA, US
Kathryn A. Daltorio - Cleveland OH, US
Amaury D. Rolin - Washington DC, US
Jonathan Beno - Boulder CO, US
Bradley E. Hughes - Butler PA, US
James M. Green - Berea OH, US
Michael S. Branicky - Shaker Heights OH, US
Roger D. Quinn - Akron OH, US
Henry H. Snow - Tannersville NY, US
Francis L. Merat - University Heights OH, US
Richard E. Hudson - Durham NC, US

CASE WESTERN RESERVE UNIVERSITY - Cleveland OH
MTD PRODUCTS INC - Valley City OH

H04N 5/228
G06K 9/34

3482221, 382173, 348E05024

This invention provides a method for identifying lawn grass comprising capturing an image of the terrain in front of a mower, segmenting the image into neighborhoods, calculating at least two image statistics for each of the neighborhoods, generating a binary representation of each image statistic. The binary representation of each image statistic is generated by comparing the calculated image statistic values to predetermined image statistic values for grass. The method further comprises weighting each of the binary representations of each image statistic, and summing corresponding neighborhoods for all image statistics. A binary threshold is applied to each of the summed neighborhoods to generate a binary map representing grass containing areas and non-grass containing areas.