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    Manipulator with electromechanical transducer means
    51.
    发明授权
    Manipulator with electromechanical transducer means 失效
    机电传感器装置

    公开(公告)号：US3904234A

    公开(公告)日：1975-09-09

    申请号：US40655273

    申请日：1973-10-15

    Applicant: STANFORD RESEARCH INST

    Inventor： HILL JOHN W ,  SWORD ANTONY J

    IPC: B25J15/04 ,  B25J19/02 ,  G01L1/00 ,  G01L1/04 ,  G01L5/22 ,  B25B11/00

    CPC classification number: G01L1/005 ,  B25J15/04 ,  B25J19/021 ,  G01L1/04 ,  G01L5/226 ,  Y10S294/907 ,  Y10S414/122

    Abstract: An articulated manipulator of the type which includes a pair of jaws relatively pivotally movable between open and closed positions under operation of an electric motor for picking up objects is disclosed. One or more electromechanical transducers are located on the jaws for force and slip sensing. The force sensors include spaced light source and light sensing elements attached to the manipulator jaws and a movable shutter or vane positioned therebetween for control of the amount of light from the source which strikes the light sensing elements. The shutter position, in turn, is controlled by a movable operating member at a face of the manipulator which is urged outwardly by resilient biasing member against external forces applied to the operating member. The shutter position, and therefore amount of light reaching the light sensing member, is proportional to the force required to move the operating member against the resilient biasing member. Different resilient biasing members including composite members having different stress-strain characteristics may be used for operation over different ranges of operating pressures and/or to provide the manipulator with different force sensing characteristics. A plurality of force sensors may be located on each jaw for sensing forces applied to the manipulator at locations other than the opposing jaw faces. Slip sensors for sensing slippage of gripped objects between the jaw faces also are contemplated, which sensors include rotatable disks mounted inside the jaws and having edges extending outwardly from the opposing jaw faces. The disks function also as code wheels, and code sensors within the jaws sense disk rotation. Provision for translational movement of the disks into the jaws is provided without producing an output from the code sensors. Also, a tool and tool holder for partial support of a tool are shown, which may be employed with the manipulator.

    Abstract translation: 公开了一种铰链式操纵器，其包括在用于拾取物体的电动机的操作下在打开和关闭位置之间可相对枢转地移动的一对钳口。 一个或多个机电换能器位于钳口上用于力和滑移感测。 力传感器包括间隔开的光源和连接到操纵器颚的光感测元件和位于其间的可移动的快门或叶片，用于控制来自光源的光的量。 挡板位置又由可操作的操作构件控制在机械手的表面，该操作构件通过弹性偏置构件抵抗施加到操作构件的外力而被向外推动。 快门位置以及因此到达感光构件的光量与将操作构件相对于弹性偏置构件移动所需的力成比例。 包括具有不同应力 - 应变特性的复合构件的不同弹性偏置构件可用于在不同工作压力范围上操作和/或为操纵器提供不同的力感测特性。 多个力传感器可以位于每个钳口上，用于感测在除了相对的钳口面之外的位置处施加到操纵器的力。 也可以考虑用于感测夹钳面之间夹持物体的滑动的滑动传感器，这些传感器包括安装在钳口内的旋转盘，并具有从相对的钳口面向外延伸的边缘。 磁盘还用作代码轮，并且钳口内的代码传感器检测盘旋转。 在不产生代码传感器的输出的情况下，提供将盘转换成钳口的规定。 此外，示出了可以与机械手一起使用的用于部件支撑工具的工具和工具保持器。

    Self-Powered Smart Skins for Multimodal Static and Dynamic Tactile Perception
    54.
    发明公开
    Self-Powered Smart Skins for Multimodal Static and Dynamic Tactile Perception 审中-公开

    公开(公告)号：US20240319024A1

    公开(公告)日：2024-09-26

    申请号：US18596220

    申请日：2024-03-05

    Applicant: The University of Hong Kong

    Inventor： Dongmyeong SHIN ,  Xiaoting MA ,  Eunjong KIM ,  Jiaming Zhou ,  Jingyi GAO

    IPC: G01L1/00 ,  G01H1/00 ,  G01N27/04

    CPC classification number: G01L1/005 ,  G01H1/00 ,  G01N27/048

    Abstract: A smart skin system includes tactile sensors that mimic the functions of human skin by sensing pressure, vibration and humidity simultaneously and generate electric signals as a result thereof; and a machine learning assisted data processor that interprets the electric signals from the sensors and quantitively perceives the stimulation in terms of pressure, vibration, and environmental humidity. The sensor structurally comprises (1) a single-ion conducting electrolyte, which provides contact electrification, serves as a hygroscopic layer and produces DC hygroelectric signals in response to humidity, (2) a gold electrode and (3) a separatable aluminum electrode as a counter triboelectrification layer that produces AC triboelectric signals in response to contact.

    Ion gradient power-generation stretching strain sensor and its preparation method
    55.
    发明公开
    Ion gradient power-generation stretching strain sensor and its preparation method 审中-公开

    公开(公告)号：US20240319023A1

    公开(公告)日：2024-09-26

    申请号：US18424848

    申请日：2024-01-28

    Applicant: University Electronic Science and Technology of China

    Inventor： Zaihua Duan ,  Qi Huang ,  Huiling Tai ,  Zhen Yuan ,  Yadong Jiang

    IPC: G01L1/00

    CPC classification number: G01L1/005

    Abstract: An ion gradient power-generation stretching strain sensor and its preparation method, which relates to the technical field of flexible strain sensor and flexible wearable electronic technology, includes: latex pipes, an elastic line covered with a first hygroscopic sensitive material, two electrodes, and filter paper covered with a second hygroscopic sensitive material; wherein at both ends of the pipe, the filter paper is fixed inside and the corresponding electrodes of the elastic line at one end; the moisture absorption performance of the second hygroscopic sensitive material is better than the first hygroscopic sensitive material. The present invention realizes self-power supply of the sensor based on the ion gradient, does not require external power supply, and uses the elasticity line of the first hygroscopic sensitive material to achieve the strain detection, without consuming the material of the sensor itself and thus enhances life of the sensor.

    Method for Mechanical Sensing Utilizing Controlled Current
    57.
    发明公开
    Method for Mechanical Sensing Utilizing Controlled Current 审中-公开

    公开(公告)号：US20240272022A1

    公开(公告)日：2024-08-15

    申请号：US18646995

    申请日：2024-04-26

    Applicant: Alex Grau ,  Charles Hendee

    Inventor： Alex Grau ,  Charles Hendee

    IPC: G01L1/20 ,  G01L1/00 ,  G01L1/22

    CPC classification number: G01L1/20 ,  G01L1/005 ,  G01L1/205 ,  G01L1/2293

    Abstract: A method for sensing. The method includes the steps of transmitting mechanical forces to one or more printed mechanical sensing elements. There is the step of sending prompting signals associated with the mechanical forces to a computer in communication with one or more printed diodes and the one or more printed mechanical sensing elements. There is the step of reconstructing with the computer the mechanical forces that were applied to the one or more printed mechanical sensing elements. An apparatus for sensing. The apparatus includes a computer. The apparatus includes one or more printed electronic diodes and printed mechanical sensing elements connected to the computer, the one or more printed electronic diodes detect mechanical signals applied to the one or more mechanical-sensing elements and that provide corresponding values to the computer.

    SENSOR DEVICE
    58.
    发明公开
    SENSOR DEVICE 审中-公开

    公开(公告)号：US20240053210A1

    公开(公告)日：2024-02-15

    申请号：US18382094

    申请日：2023-10-20

    Applicant: Murata Manufacturing Co., Ltd.

    Inventor： Hiroshi WATANABE ,  Kohei SUGAHARA ,  Takatoshi KATO ,  Koichi INOUE

    IPC: G01L1/00 ,  G01S7/481 ,  G01S17/08

    CPC classification number: G01L1/005 ,  G01S7/4815 ,  G01S7/4816 ,  G01S17/08

    Abstract: A sensor device includes a substrate, a force sensor on the substrate, and a proximity sensor including light emitting elements on the substrate and light receiving elements to receive light from the light emitting elements. At least one of the light emitting elements and the light receiving elements of the proximity sensor is located at three or more positions that surround the force sensor on the substrate. A position of a center of gravity with respect to the three or more positions is within a range in which the force sensor is positioned on the substrate.

    METHOD FOR MANUFACTURING FORCE SENSOR
    60.
    发明公开
    METHOD FOR MANUFACTURING FORCE SENSOR 审中-公开

    公开(公告)号：US20230266188A1

    公开(公告)日：2023-08-24

    申请号：US18112043

    申请日：2023-02-21

    Applicant: SINTOKOGIO, LTD. ,  TOHOKU UNIVERSITY

    Inventor： Yoshikane TANAAMI ,  Miyuki HAYASHI ,  Yoshiaki KANAMORI ,  Taiyu OKATANI

    IPC: G01L5/10 ,  G01L1/00 ,  B32B15/04

    CPC classification number: G01L5/10 ,  G01L1/005 ,  B32B15/04

    Abstract: Provided is a method for manufacturing a force sensor including: preparing a first substrate which is made of a material that transmits electromagnetic waves and includes on its surface a metal array arranged in a periodic pattern and a second substrate which includes on its surface a metal layer that reflects electromagnetic waves; forming a spacer member on the surface of the first substrate; forming a first metal layer around the spacer member on the surface of the first substrate; forming a second metal layer in a region corresponding to the first metal layer on the second substrate; and fusing the first metal layer and the second metal layer together to fix the first substrate and the second substrate in a state in which the spacer member formed on the surface of the first substrate abuts the surface of the second substrate.

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