公开(公告)号：US09857245B2

公开(公告)日：2018-01-02

申请号：US15064872

申请日：2016-03-09

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Selim Ozel

IPC: G01L1/12 ,  B25J13/08 ,  B25J15/12 ,  G01L5/22

CPC classification number: G01L1/122 ,  B25J13/088 ,  B25J15/12 ,  G01L5/226 ,  Y10S901/46

Abstract: 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.

公开(公告)号：US20160265985A1

公开(公告)日：2016-09-15

申请号：US15064872

申请日：2016-03-09

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Selim Ozel

IPC: G01L1/12 ,  B25J13/08

CPC classification number: G01L1/122 ,  B25J13/088 ,  B25J15/12 ,  G01L5/226 ,  Y10S901/46

Abstract: 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.

Abstract translation: 与传统的刚性构件位移相比，机器人感测和触摸装置检测弹性表面中的逐渐变形。 耦合到可变形基座中的稀土磁体的霍尔效应传感器允许感测表面曲率和对被抓住物体的压缩。 可变形基座，例如硅树脂模具或其他弹性封装，固定磁源和相对的霍尔效应传感器。 接收磁场的校准由“静止”（未变形）状态的传感器元件电压定义，并且由相对于霍尔效应传感器以不同取向拉动磁体的可变形基座的压缩引起的连续变形程度 。 磁体和传感器元件对的阵列允许在用于检测平移或铰接构件的曲率的区域上相对感测，或者与弯曲表面接合。