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公开(公告)号：US12025525B2
公开(公告)日：2024-07-02
申请号：US17595662
申请日：2020-05-29
发明人： Hugo Elias , Matthew Godden
CPC分类号： G01L5/228 , B25J13/084 , G01L5/166
摘要： A tactile sensor includes a first layer formed of flexible material having an outer contact surface and an opposed inner interface surface, a second layer formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer at the interface surface, a camera, and reflective material. The first and second layers are configured so that pressure exerted by an object or objects contacting the outer contact surface causes at least localized distortion of the interface surface. The camera is arranged to capture an image of the interface surface through the flexible second layer. The reflective material is configured so that the appearance of at least part of the reflective material changes as the viewing angle changes and the reflective material is located between the layers at the interface surface.
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公开(公告)号：US11841287B2
公开(公告)日：2023-12-12
申请号：US16845199
申请日：2020-04-10
发明人： Chihiro Nagura
CPC分类号： G01L5/169 , B25J13/085 , G01L5/164 , G01L5/165
摘要： A force sensor that quantitatively detects an external force. The force sensor comprises a base unit, a displacement unit displacing by an external force, a first displacement sensor pair including two sets of sensors detecting a relative displacement between the base unit and the displacement unit in a first direction, and a second displacement sensor pair including two sets of sensors detecting a relative displacement between the base unit and the displacement unit in a second direction. Among four quadrants divided by two straight lines along each of the first direction and the second direction wherein, the straight lines passing through a midpoint of the two sets of sensors composing the first displacement sensor pair, the two sets of sensors composing the second displacement sensor pair are respectively disposed in two quadrants in which the two sets of sensors composing the first displacement sensor pair are respectively disposed.
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公开(公告)号：US20220221357A1
公开(公告)日：2022-07-14
申请号：US17595662
申请日：2020-05-29
发明人： Hugo Elias , Matthew Godden
摘要： A tactile sensor includes a first layer formed of flexible material having an outer contact surface and an opposed inner interface surface, a second layer formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer at the interface surface, a camera, and reflective material. The first and second layers are configured so that pressure exerted by an object or objects contacting the outer contact surface causes at least localized distortion of the interface surface. The camera is arranged to capture an image of the interface surface through the flexible second layer. The reflective material is configured so that the appearance of at least part of the reflective material changes as the viewing angle changes and the reflective material is located between the layers at the interface surface.
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公开(公告)号：US20220099510A1
公开(公告)日：2022-03-31
申请号：US17274745
申请日：2019-09-10
摘要： Apparatus for measuring forces and/or moments on a load-carrying element comprises plural optical sensors mounted to the load-carrying element. Each of the optical sensors includes a light source, a photosensor and an opaque mask positioned in a light path between the light source and the photosensor. The photosensor comprises first and second light sensitive elements separated by a boundary. The mask has a window that is movable relative to the photosensor and is located such that light from the light source that passes through the window forms an illuminated region on the photosensor. The illuminated region includes at least part of the boundary and parts of each of the first and second light sensitive elements. Each of the optical sensors has a first part which includes the light source and the photosensor that is coupled to the load-carrying element at a first location and a second part that includes the mask that is attached to the load-carrying element at a second location spaced apart from the first location. Boundaries between the first and second light sensitive elements in different ones of the optical sensors are oriented in different directions relative to an axis of the load-carrying element. The apparatus may be applied to monitor forces and moments in six degrees of freedom.
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公开(公告)号：US20200240865A1
公开(公告)日：2020-07-30
申请号：US16851607
申请日：2020-04-17
发明人： Naoya Ogawa
摘要： The invention relates to a force sensor 100 that detects a force acting from the outside, and provides the force sensor 100 whose reduction in size and cost can be achieved. The force sensor 100 includes a support member 20, a force receiving member 4 that is displaced with respect to the support member 20 by the action of an external force, an elastic connection member 5 connecting the support member 20 and the force receiving member 4, scales 8a to 8d, which are detection target object bodies, disposed at the elastic connection member 5, displacement detection elements 9a to 9d that are mounted on the sensor substrate 7 composing the support member 20 so as to face the scales 8a to 8d in a one-to-one manner, and that detect movements of the scales 8a to 8d.
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公开(公告)号：US12092544B2
公开(公告)日：2024-09-17
申请号：US17274745
申请日：2019-09-10
摘要： Apparatus for measuring forces on a load-carrying element comprises optical sensors mounted to the load-carrying element. Each optical sensor includes a light source, a photosensor and an opaque mask positioned in a light path between the light source and the photosensor. The mask has a window that is movable relative to the photosensor and is located such that light from the light source that passes through the window forms an illuminated region on the photosensor. Each of the optical sensors has a first part which includes the light source and the photosensor that is coupled to the load-carrying element at a first location and a second part that includes the mask that is attached to the load-carrying element at a second location spaced apart from the first location.
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公开(公告)号：US20220299082A1
公开(公告)日：2022-09-22
申请号：US17618095
申请日：2020-06-10
申请人： BREMBO S.p.A.
摘要： A method for detecting and measuring a clamping force and/or a braking torque includes encapsulating a fiber-optic strain sensor in a casing and incorporating the casing in a portion of friction material adhering to a base platform of a brake pad, detecting, by the fiber-optic strain sensor, a first strain in a first position of the casing along a first direction and a second strain in a second position of the friction material along a second direction, generating a first photonic signal, representative of the first detected strain, and a second photonic signal, representative of the second detected strain, receiving the first and second photonic signals, by an optical reading/ interrogation unit, optically connected to the fiber-optic strain sensor, determining, by the optical reading/ interrogation unit, the values of the first and second strains based on the first and second received photonic signals and determining a measurement of the clamping force and/or braking torque based on determined values of the first and second strains.
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公开(公告)号：US20220170805A1
公开(公告)日：2022-06-02
申请号：US17217325
申请日：2021-03-30
发明人： Jong Man KIM , Se Yeon HWANG , Kyung Ho LEE , Seok Hwan KIM , Chul Kyu KIM , Han KIM
摘要： A force sensing device includes a support member including: a sensor support portion to which a force sensor is coupled on one surface of the support member; and a frame coupling portion extending from the sensor support portion. The force sensing device further includes: a frame disposed to face another surface of the support member, and disposed to be spaced apart from the support member; and at least one spacing member disposed between the support member and the frame, and spacing the support member apart from the frame. The force sensor is not disposed in the frame coupling portion. The spacing member is disposed between the frame coupling portion and the frame.
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公开(公告)号：US10969284B2
公开(公告)日：2021-04-06
申请号：US16372208
申请日：2019-04-01
发明人： Chihiro Nagura
摘要： There is provided an optical sensor that includes a base portion, an action portion, a reflecting member disposed at one of the base portion and the action portion, and a detection unit including a light source and a light receiving element disposed at the other one of the base portion and the action portion. In the optical sensor, a space between the detection unit and the reflecting member is filled with a light transmissive material, and a force and/or acceleration is detected due to the light receiving element detecting light emitted from the light source and reflected by the reflecting member.
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公开(公告)号：US10596346B2
公开(公告)日：2020-03-24
申请号：US15424914
申请日：2017-02-06
发明人： Nicolas Aeby , Giovanni Leo
IPC分类号： A61B90/00 , A61M25/00 , A61B5/00 , A61B5/042 , A61B17/3207 , A61B18/14 , G01L5/166 , A61B1/00 , A61B18/02 , A61B1/06 , A61B1/07
摘要： A fiber optic force sensing assembly for detecting forces imparted at a distal end of a catheter assembly. The structural member may include segments adjacent each other in a serial arrangement, with gaps located between adjacent segments that are bridged by flexures. Fiber optics are coupled to the structural member. In one embodiment, each fiber optic has a distal end disposed adjacent one of the gaps and oriented for emission of light onto and for collection of light reflected from a segment adjacent the gap. The optical fibers cooperate with the deformable structure to provide a change in the intensity of the reflected light, or alternatively to provide a variable gap interferometer for sensing deformation of the structural member. In another embodiment, the gaps are bridged by fiber Bragg gratings that reflect light back through the fiber optic at central wavelengths that vary with the strain imposed on the grating.
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