Patents by Inventor Cagdas D. Onal
Cagdas D. Onal has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11865702Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.Type: GrantFiled: August 24, 2021Date of Patent: January 9, 2024Assignee: Worcester Polytechnic InstituteInventors: Cagdas D. Onal, Onder Ondemir, Weijia Tao
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Publication number: 20230337895Abstract: A colonoscopy screening device includes an elongated flexible probe having a proximal end and a distal end, the distal end adapted for rectal insertion, and an electrode at the distal end and adapted for contact with a suspect tissue growth. A measurement circuit connected to the electrode for measuring an electrical characteristic of the suspect tissue growth based on delivery of an electrical signal from the electrode. A pair of electrodes in an opposed orientation allows an actuator to drawing at least one of the electrodes towards the other electrode for engaging the suspect tissue growth for passing the electrical signal through the suspect tissue growth. Measurement of the resulting signal determines bioelectrical properties of the growth for determination of possible malignancy.Type: ApplicationFiled: April 22, 2023Publication date: October 26, 2023Inventors: Ahmet Sabuncu, Cagdas D. Onal, Mary Decelles, Hannah Lindsey
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Publication number: 20220040868Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether.Type: ApplicationFiled: August 24, 2021Publication date: February 10, 2022Inventors: Cagdas D. Onal, Onder Ondemir, Weijia Tao
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Patent number: 11097430Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.Type: GrantFiled: October 31, 2018Date of Patent: August 24, 2021Assignee: Worcester Polytechnic InstituteInventors: Cagdas D. Onal, Onder Ondemir, Weijia Tao
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Patent number: 10551923Abstract: A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.Type: GrantFiled: May 4, 2017Date of Patent: February 4, 2020Assignee: Worcester Polytechnic InstituteInventors: Saraj Pirasmepulkul, Alexander Caracappa, Peerapat Luxsuwong, Cagdas D. Onal, William Michalson, Tri Khuu, Ming Luo
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Patent number: 10478975Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.Type: GrantFiled: April 11, 2016Date of Patent: November 19, 2019Assignee: Worcester Polytechnic InstituteInventors: Cagdas D. Onal, Fuchen Chen, Weijia Tao
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Publication number: 20190126497Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether.Type: ApplicationFiled: October 31, 2018Publication date: May 2, 2019Inventors: Cagdas D. Onal, Onder Ondemir, Weijia Tao
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Patent number: 9857245Abstract: A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an “at rest” (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.Type: GrantFiled: March 9, 2016Date of Patent: January 2, 2018Assignee: Worcester Polytechnic InstituteInventors: Cagdas D. Onal, Selim Ozel
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Publication number: 20170322629Abstract: A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.Type: ApplicationFiled: May 4, 2017Publication date: November 9, 2017Inventors: Saraj Pirasmepulkul, Alexander Caracappa, Peerapat Luxsuwong, Cagdas D. Onal, William Michalson, Tri Khuu, Ming Luo
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Publication number: 20160318194Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.Type: ApplicationFiled: April 11, 2016Publication date: November 3, 2016Inventors: Cagdas D. Onal, Fuchen Chen, Weijia Tao
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Publication number: 20160265985Abstract: A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an “at rest” (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.Type: ApplicationFiled: March 9, 2016Publication date: September 15, 2016Inventors: Cagdas D. Onal, Selim Ozel