Abstract: A robot includes a robot main body including a first member, a second member, and a joint that coupling the first and the second members together so as to be relatively rotatable around an axis, a fixed stopper fixed to the first member, and an adaptor and a movable stopper that are each detachably attached to the second member. The second member has a main-body-side attachment part to which either one of the adaptor and the movable stopper is selectively attached. The adaptor has an adaptor-side attachment part to which the movable stopper is attached and which is arranged in a position different from that of the main-body-side attachment part in a circumferential direction around the axis, while the adaptor is in a state of being attached to the main-body-side attachment part.

Abstract: A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.

Abstract: The arm structure of a robot includes a first motor and a second motor attached to an arm member, a first bearing attached to the arm member, an arm member supported on the arm member by the first bearing, a first gear rotating together with the first bearing, a first motor transmission gear transmitting rotation force of the first motor to the first gear, a second bearing attached to the arm member and having a center axis perpendicular to a center axis of the first bearing, a rotary member supported on the arm member by the second bearing and rotatable relative to the arm member, a second gear attached to the rotary member, and a second motor transmission gear transmitting rotation force of the second motor to the second gear to make the rotary member rotate.

Abstract: A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

Abstract: A controller that controls a robot that performs grinding on a workpiece includes a machine learning device that learns grinding conditions for performing the grinding. The machine learning device observes, as state variables expressing a current state of an environment, a feature of a surface state of the workpiece after the grinding and the grinding conditions, acquires determination data indicating an evaluation result of the surface state of the workpiece after the grinding, and learns the feature of the surface state of the workpiece after the grinding and the grinding conditions in association with each other using the observed state variables and the acquired determination data.

Abstract: A machine learning device is provided in a versatile controller capable of inferring command data to be issued to each axis of a robot. The device includes an axis angle conversion unit calculating, from the trajectory data, an amount of change of an axis angle of an axis of the robot, a state observation unit observing axis angle data relating to the amount of change of the axis angle of the axis of the robot as a state variable representing a current state of an environment, a label data acquisition unit acquiring axis angle command data relating to command data for the axis of the robot as label data, and a learning unit learning the amount of change of the axis angle of the axis of the robot and the command data for the axis in association with each other by using the state variable and the label data.

Abstract: A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the s

Abstract: A robot employing an operation program setting apparatus is configured to move, based on an operation program, a tool attached to a distal end portion of an arm of the robot along a predetermined processing trajectory along a work object, the operation program makes posture of the tool change at at least a position along the predetermined processing trajectory, the position is a posture changing position. The setting apparatus includes a controller configured to add a command to the operation program, the command is for making the tool start to be inclined when the tool approaches the posture changing position within a range of an acceptable inclination angle, the range is an angle range within which the tool is allowed to be inclined with respect to a surface of the work object.

Abstract: A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and an angular velocity setter to set, when the reference point is moved in each of the segments according to point to point control, an angular velocity of each of the segments based on a variance in angle that becomes maximum with respect to each of the segments in each of the accele

Abstract: A robotic system includes a robot and a processor configured to autonomously generate a master plan for movement of an end effector of the robot for operating on an operating surface of a workpiece in a physical environment. The master plan is based on a computer aided design (CAD) model of the workpiece and defines movement paths of the end effector based on a reach distance of a robotic arm of the robot at each of a plurality of working waypoints defined in the master plan and corresponding to fiducial markers on the workpiece. The processor registers the robot to the workpiece, iteratively adjusts an approximate workpiece position in a world map until matching an actual workpiece position in the physical environment, and constructs and executes a robotic arm trajectory causing the end effector to operate on the operating surface along the movement paths defined in the master plan.

Abstract: A measuring system of an industrial robot comprises a plurality of moveable arms including a tool holder and a 3D camera carried by the industrial robot. The measuring system further comprises a mirror for creating a mirror object of a real object. The 3D camera is fixed to one of the moveable arms for measurement of the mirror object.

Abstract: Systems and methods are provided for managing a robotic assistant. Environment data corresponding to a current environment is collected to determine a type of the current environment based on the collected environment data. One or more objects in the current environment are detected. The one or more objects are associated with the type of the current environment. For each of the one or more objects, one or more interactions are identified based on a type of the respective object and the type of the current environment. Object libraries corresponding to the one or more objects are downloaded. The object libraries include interaction data corresponding to the respective identified one or more interactions. At least a portion of the one or more interactions are executed upon the respective one or more objects.

Abstract: A moving body configured to move autonomously includes: a light emitting device configured to emit light in radial directions with respect to a vertical axis of the moving body; an acquisition unit configured to acquire a moving direction of the moving body; and a light-emitting control unit configured to make the light emitting device emit light using luminous colors previously associated with each direction of the radial directions with reference to the moving direction acquired by the acquisition unit, in which the light emitting device is installed so as to be able to emit light with at least one of the luminous colors within an arbitrary range of 180° in the radial directions.

Abstract: A posture angle calculation apparatus 170 includes an acquisition unit 171 configured to acquire an output of an acceleration sensor 151 installed to output acceleration of a moving apparatus that moves along a moving surface in a vertical axis direction with respect to the moving surface and to acquire an output of a gyro sensor 152 installed to output an angular velocity about the vertical axis. The posture angle calculation apparatus 170 further includes a calculation unit 172 configured to assume, when the acceleration is larger than reference acceleration Rg, and the angular velocity is smaller than a preset reference angular velocity Rw, the angular velocity ?z is zero and calculate a posture angle of the moving apparatus about the vertical axis. The posture angle calculation apparatus 170 further includes an output unit 173 configured to output data of the calculated posture angle.

Abstract: Gripping teeth and grippers capable of reliably grasping a test piece to conduct a material test even for a brittle material or a composite material are provided. Multiple protrusions which are referred to as blade-shaped teeth having pointed leading ends are formed on tooth surfaces (15). The gripping teeth have the tooth surfaces (15) on which teeth cutting from two directions are crossed to form the protrusions and intervals between the protrusions are reduced to increase an amount of the protrusions. When a test piece is grasped by the gripping teeth, a force applied to each protrusion is reduced, and thus a depth by which each protrusion bites into the test piece can be shallow, and the test piece strength at grasped parts of the test piece can be prevented from decreasing.

Abstract: A dovetail tool changer includes a first plate to be constrained to an external handling system, a second plate to be constrained to a tool and locking device to lock the second plate in the first plate. The second plate is insertable along a longitudinal direction in a pocket defined in the first plate, both plates have complementary cross sectional shapes and define a dovetailed coupling. The locking device includes at least one floating element movable between a lock position at which it exerts a thrust onto the second plate preventing disengagement thereof from the first plate, and an unlock position, at which the second plate can be separated from the first plate. The locking device includes at least one thrust element connected to the at least one floating element, which are together able to be displaced along a first direction in response to an exerted user force.

Abstract: Techniques for controlling a robotic picking arm using estimated seal quality metrics. A plurality of candidate contact points for holding an item using a suction device of the robotic picking arm, based on captured images of the item and an n-dimensional surface model of the item. An expected seal quality metric for a first one of the candidate contact points, by processing the n-dimensional surface model of the item and physical properties of the suction device of the robotic picking arm. Based on the expected seal quality metric, embodiments can determine whether to retrieve the item from the storage container by holding the item at the first candidate contact point using the suction device of the robotic picking arm.

Abstract: A suction gripper system includes a suction calotte for the handling of at least one article and a counterpart configured correspondingly to the suction calotte. Further, the suction gripper system includes a magnetic element and a movably mounted ball, which are arranged to interact magnetically with respect to one another to influence a spatial position of the suction calotte in relation to the counterpart. Further, a method for handling the at least one article, a method for producing at least one spectacle lens, and the use of the suction gripper system are disclosed.

Abstract: A structure of a joint includes a reduction gear including a shaft configured to support a gear and including a reduction gear case to which rotational force of the gear is transmitted. The joint includes an interposition member interposed between a servo motor and a pivot base. The servo motor is fixed to the interposition member with motor fixing bolts. The shaft is fixed to the pivot base with shaft fixing bolts. A diameter of the positions of the motor fixing bolts and a diameter of the positions of the shaft fixing bolts are smaller than an outer diameter of the reduction gear case. The interposition member has a shape for fixing the motor fixing bolts at positions away from the shaft fixing bolts.

Abstract: A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.

Abstract: A cable clamp includes a base member fixed to a predetermined position of an arm of a robot, a rotation mechanism provided on the base member, and a clamp base rotatably supported by the base member using the rotation mechanism. The clamp base includes a band winding portion which a fixation band is wound around, the fixation band is for fixing cables to the clamp base.

Abstract: A cutter including a cutting head and an adjustable handle pivotally coupled to the cutting head. The adjustable handle includes a first adjustment assembly to change a length the adjustable handle extends from the cutting head. The adjustable handle also includes a second adjustment assembly to change the position of the adjustable handle with respect to the cutting head.

Abstract: An electrically driven device comprising a housing, an application head movably mounted on the housing, an electric motor mounted in the housing and comprising a drive shaft having a first rotary axis (I), a driven shaft for performing a movement relative to the housing, the driven shaft extending at least partially within the application head, and a first actuation member and a second actuation member, wherein the actuation members (8, 9) are movably guided in the application head and wherein the first actuation member comprises a seat receiving a portion of the driven shaft for driving the first actuation member in the first direction (D1).

Abstract: An elastic fastener for a shaver includes a left elastic arm, a right elastic arm, and a connecting arm. A left pivoting part is provided at a lower end of the left elastic arm, a left hook is provided; a right pivoting part is provided at a lower end of the right elastic arm, a right hook is provided. A left plane and a right plane are defined, the central pivoting line of the left pivoting part is located in the left plane, the central pivoting line of the right pivoting part is located in the right plane, and abutment areas of the left hook and the right hook abutted against the razor head during shaving are located in a space sandwiched between the two planes, so as to prevent a razor head from disengaging from a handle during shaving and ensure the reliability of shaving.

Abstract: According to one embodiment, the stacked body includes a plurality of stacked units and a first intermediate layer. Each of the stacked units includes a plurality of electrode layers and a plurality of insulating layers. Each of the insulating layers is provided between the electrode layers. The first intermediate layer is provided between the stacked units. The first intermediate layer is made of a material different from the electrode layers and the insulating layers. The plurality of columnar portions includes a channel body extending in a stacking direction of the stacked body to pierce the stacked body, and a charge storage film provided between the channel body and the electrode layers.

Abstract: An adjustable vegetable food machine is provided. A T-shaped chute is provided lengthwise on and penetrates through a top surface of the main body frame with a food fixing mechanism being detachably mounted therein. The bottom of the food fixing mechanism is provided with a slider slidable along the T-shaped chute. A dismountable food cutting mechanism is provided on the main body frame and includes a panel, a knife seat connected to the panel through a rotating shaft, a rear cover, a push button lock, and a shift push button. The shift push button slides along a length direction of the slot to adjust a cutting angle of the knife seat with respect to the front of the panel. The structure of the present invention is simple and safe, convenient for disassembly and assembly and cleaning, and convenient for storage.

Abstract: A muntin bar fabrication system can be used to efficiency produce a wide variety of different types of muntin bars, allowing the fabrication of both standard and custom muntin bar assemblies for doors, windows, and other fenestration products. In some examples, the fabrication system includes a muntin bar stock storage assembly that holds multiple different types of muntin bar stock. The system also includes a muntin bar stock extraction device that extracts one of the different types of muntin bar stock from the storage assembly and conveys the extracted muntin bar stock to a feed device. The feed device feeds the extracted piece of muntin bar stock into a cutting system that includes a multi-axis cutter. The cutting system that performs one or more cutting operations on the extracted muntin bar stock so as to fabricate one or more individual muntin bars from the extracted muntin bar stock.

Abstract: A panel cutter has a clamping mechanism positioned adjacent to the cutting path to hold the panel material in position during the cutting process. The clamping mechanism includes a clamping bar which is removably coupled to a pair of lever mechanisms which are rotatably coupled to the framework of the panel cutter. An actuator bar having cams at both ends is also coupled to the framework and position adjacent to the lever arms, wherein movement of the actuator bar causes movement of the lever arms. Based upon the configuration and positioning of these components, movement of the lever arms causes the clamping bar to move between a locked position and an unlocked position.

Abstract: An alignment tool for connection to a work component. The alignment tool includes a body, a retention member that extends upward from the body, a clamp assembly spaced from the retention member and being connected to the body, a first reference surface that extends upward from the body and is located between the retention member and where the clamp assembly is connected to the body. The clamp assembly has a fastener that extends toward the retention member and past the first reference surface of the body, wherein the clamp assembly is movable t to draw a distal end of the fastener in a direction toward where the clamp assembly is connected to the body and the fastener is biased to move the distal end of the fastener toward the first reference surface.

Abstract: Embodiments provide systems, methods and apparatuses for positioning boards and other wood pieces in preparation for sawing/trimming. In embodiments, a continuous track loop conveys board stops slideably mounted to board stop guides positioned perpendicular to the direction of flow. A horizontal frame member provides a series of positioning guides through which a cam follower coupled to a board stop is diverted, thus adjusting the position of board stops in a direction perpendicular to the direction of flow without the use of braking devices or other added sources of mass, friction or vibration.

Abstract: An auger includes a body with a first end, a second end opposite the first end, a stem that extends from the first end to the second end and defines an axis of rotation, and a flute helically wrapped around the stem. The auger further includes a shank at the first end of the body configured to be received by a power tool and a cutting head at the second end of the body. The cutting head includes a cutting edge, a spur, and a feed screw with a thread. The thread has a pitch and a nonsymmetrical thread profile. The pitch of the thread is at least 2.5 mm.

Abstract: Apparatus, systems, and processes control an electric motor to drive a hoop onto a wooden barrel, among other purposes. A controller may be connected to the electric motor and configured to receive user input data and generate one or more control signals for the electric motor that correspond to a torque generation of the electric motor and/or a rotation speed of the electric motor. A barrel hoop driver may comprise the controller and electric motor, where the electric motor drives a press member for driving hoops onto wooden barrels.

Abstract: An apparatus for use in debarking logs that includes a debarking assembly for separating bark from logs as the logs are passed through the apparatus, such that the separated bark falls away from the logs. A contact surface catches falling bark that has been separated from logs by the debarking assembly. A pusher reciprocates over the contact surface and includes a first pusher face that pushes bark over the contact surface. A magnet reciprocates with the pusher and may be selectively activated and deactivated. When the magnet is activated, a magnetic field is provided proximate the first pusher face such that magnetically attracted portions in the bark that are brought within the magnetic field as the pusher reciprocates are magnetically attracted to the first pusher face by the magnetic field and are separated from the bark.

Abstract: Device for cutting and/or splitting wood is disclosed. The device comprises a stationary blade co-operating with a reciprocating blade disposed at a front end of a frame, a rear blade having a splitting edge disposed at a rear end of the frame, a movable unit coupled to the reciprocating blade is configured to move along a linear path disposed on the frame. A drive means coupled to the movable unit moves the movable unit forward for moving the reciprocating blade so that a wood received into an aperture of the blade is cut when the reciprocating blade moves pasts the stationary blade. The drive means moves the movable unit rearward for pushing the wood there along the path towards the rear blade for splitting of wood by splitting edge.

Abstract: A Digital decorating machine for ceramic products, including a conveyor, suitable to transport the products to be decorated (P) along a feed direction (A), and a plurality of decoration modules, positioned over the conveyor and adjacent to each other along the feed direction (A). The modules include respective printing heads provided with nozzles for ejecting a fluid to be delivered on the surface of the products to be decorated (P); the conveyor includes a movable member for supporting the products to be decorated (P), suitable for translating them along the feed direction (A). The conveyor includes at least a supporting surface, located along a respective flank of the movable member, including in turn a plurality of predetermined positioning zones for the removable engagement of respective coupling portions of the decoration modules.

Abstract: A method of manufacturing an article by injection moulding is disclosed, the method comprising injection moulding an article from a polymer resin, wherein the polymer resin comprises different types of recycled polymer and a compatibilizer comprising inorganic particulate material and a surface treatment agent on a surface of the inorganic particulate material, and wherein the polymer resin has a MFI @ 2.16 kg/190° C. of equal to or greater than 3.0 g/10 min. Further disclosed is the use of a compatibilizer in an article or in a polymer resin, a polymer resin suitable for use in the manufacture of an article therefrom by injection moulding, and an article so produced.

Abstract: The disclosed invention describes a novel approach to the utilization of the fine mineral matter derived from coal and/or coal refuse (a by-product of coal refining) to convert a non-biodegradable plastic into a biodegradable plastic. The fine mineral matter could also be based on volcanic basalt, glacial rock dust deposits, iron potassium silicate and other sea shore mined deposits. The conversion of the non-biodegradable plastic into biodegradable plastic in soil further increases nutrients availability in soil with the transition metals released as a result of biodegradation of the biodegradable plastic.

Abstract: Pulp fiber containing little ash is effectively recovered from a used sanitary product containing the pulp fiber and a polymer absorbent. The method according to the present invention comprises: a step for treating the used sanitary product with an ozone-containing gas and thus decomposing and removing at least a portion of the polymer absorbent in the used sanitary product; and a step for stirring the used sanitary product, that has been treated with the ozone-containing gas, in water or an aqueous solution containing an antiseptic and thus decomposing the used sanitary product into constituents. If required, the method may further comprise a step for separating the pulp fiber from the decomposition product obtained by the decomposition step.

Abstract: The invention relates to a method for manufacturing a pellet, comprising a) providing residual rubber powder from a rubber disintegration process; b) providing a pelletizing system, including a pelletizer and a cooling device; c) feeding the residual rubber powder as at least part of a feed material, into a pelletizer; d) providing the rubber powder in an amount between 50% and 100%; e) applying a pressure to the residual rubber for a predetermined process duration; f) releasing the pelletized rubber and cooling the pelletized rubber at a cooling rate dependent on the operational temperature of the pelletizer.

Abstract: A mold for forming a flange of a wind turbine blade comprising a first flange portion including a plurality of lamina and having a generally planar shape and a second perpendicular flange including a plurality of lamina. A plurality of copper wires are disposed within the lamina for conducting heat delivered from a base portion through the first and second flange portions. The mold is free of fluid conduits with the flange portions moveable relative to the base portion.

Abstract: A mold for forming a wind turbine blade comprising first and second mold surfaces including a flange portion having an opening therein, wherein the first and second mold surfaces are configured for relative movement therebetween from an open position to a closed position. The opening of the first flange portion is aligned with the opening of the second flange portion when in the closed position, and a first magnet is disposed within the opening in the opening of the first mold surface, and a second magnet is disposed within the opening of the second mold surface.

Abstract: A process of 3D scanning lactating women's breasts to generate an AutoCAD model of the maternal nipple is disclosed. The 3D scanning and generation of a plurality of maternal nipple shapes for creation of breastfeeding accessories and molds is intended to closely mimic a specific mother's unique nipple shape, which can vary widely from one woman to another. The embodiments eliminate nipple confusion in infants being introduced to a bottle nipple and pacifier, in order to promote prolonged breastfeeding. Mimicking a mother's unique nipple shape helps create accessories that better fit a mother's unique nipple size and shape and decrease pain (i.e. pump flange and nipple shield).

Abstract: Disclosed herein is a method of forming a mold comprising disposing a film having a textured surface on a support; where the support has a shape of an article to be manufactured; pressing the film onto the support to cover a surface of the support; disposing a backing on the film; separating the support from the backing; and molding a material in the backing. Disclosed herein too is a method comprising contacting a first mandrel with a first mold; where the first mold has a textured surface; texturing a surface of the first mandrel with the first mold; disposing the first mandrel in a die; disposing a first material in the die to contact the first mandrel; imparting a texture from the surface of the first mandrel onto the material to form a second mold; and disposing a texture from the second mold onto a second material; where the second material is different from the first material.

Abstract: An imprinting apparatus 100 includes a control unit 126 that controls movement of a stage 104. During a period after a pattern is formed in a first region of regions until a pattern is formed in a second region that differs from the first region of the regions, the control unit 126 does not allow the first region to pass through a facing portion that faces a discharge ports 122b. After a predetermined time has elapsed since the discharging unit 106 finally discharges a imprint material 127 to the substrate with an airstream generated along a substrate from the facing portion at the facing portion that faces the discharge ports 122b, the control unit 126 controls movement of the stage such that the regions in which the pattern is formed are allowed to pass through the facing portion.

Abstract: A device for producing polymer films having a predefined spatial structure. The device includes: a linear stage, a platform for a substrate, a cylinder for spreading a polymer solution layer over the substrate to deposit a polymer film onto the substrate, a cylinder height adjustment system, a control system for adjusting a height and tilt of the cylinder in relation to the substrate, a controllable voltage source, one or more metallic electrodes fixed onto the cylinder. The substrate onto which the polymer film is deposited is conductive for electric current. Electric voltage from the controllable voltage source is applied between the metallic electrode and the substrate during deposition of the polymer film onto the substrate.

Abstract: A punch for the compression molding of plastic material for forming capsules for containers closure, wherein the punch includes a stem portion made of steel and a head portion made of copper alloy screwed to the stem portion, wherein a separation interface between the stem portion and head portion includes a passage for gas that reaches a bottom surface of the punch delimitating one forming cavity where the compression molding of the plastic material occurs, and wherein one channel internal to the head portion communicates with the passage for gas to enable extraction of gas out of the forming cavity.

Abstract: A device for reinforcing, sealing or insulating a structural element in a motor vehicle includes a support having a clip for pre-fixing the device in the structural element. The clip includes a base and two flexible wings arranged on the base. The device furthermore includes an adhesive for adhesively bonding the support in the structural element. The device furthermore includes an insertion element, which can be inserted in such a way into an interspace between the base and the wings of the clip when the device is pre-fixed on the structural element by the clip that the flexible wings are restricted in their freedom of movement.

Abstract: An ink is used for forming a photothermal conversion layer used for causing expansion of at least a portion of a thermal expansion layer of a thermally-expandable sheet. The ink includes an inorganic infrared absorbing agent having a higher absorptivity in at least one region of an infrared light spectrum than in a visible light spectrum. A base of the ink is white.

Abstract: Injection molding methods used to form polymeric foam articles (e.g., microcellular foam articles) are described herein.

Abstract: A method of forming a composite article including a first portion comprising a cured elastomer and presenting an engagement surface, and a second portion comprising a thermoplastic composition and presenting a locking surface is disclosed. The method comprises the step of forming a plurality of engagement voids in the engagement surface of the first portion. Each engagement void penetrates into the engagement surface of the first portion and is defined by a side wall which forms an acute angle with the engagement surface. The method also includes the step of applying the thermoplastic composition onto the engagement surface of the first portion to form the second portion such that the locking surface abuts the engagement surface and defines a plurality of locking protrusions disposed in the plurality of engagement voids of the first portion.