公开(公告)号：US20160258829A1

公开(公告)日：2016-09-08

申请号：US15032435

申请日：2014-10-30

Applicant: BOARD OF REGENTS, THE UNIVERSITY OF TEXAS SYSTEM

Inventor： Zeynep Celik-Butler ,  Donald P. Butler

IPC: G01L9/00 ,  H01L41/37 ,  H01L41/18 ,  H01L41/113 ,  H01L41/04

CPC classification number: G01L9/0055 ,  G01L1/16 ,  G01L5/226 ,  G01L9/008 ,  H01L41/04 ,  H01L41/1132 ,  H01L41/183 ,  H01L41/37

Abstract: In one embodiment, a self-powered tactile pressure sensor includes a flexible substrate, an array of piezoelectric crystalline nanorods each having a bottom end and a top end, the nanorods being generally perpendicular to the substrate, a top electrode that is electrically coupled to the top ends of the nanorods, and a bottom electrode that is electrically coupled to the bottom ends of the nanorods.

Abstract translation: 在一个实施例中，自动触觉压力传感器包括柔性衬底，每个具有底端和顶端的压电晶体纳米棒阵列，所述纳米棒大致垂直于所述衬底，所述顶部电极电耦合到所述衬底 纳米棒的顶端，以及电耦合到纳米棒的底端的底部电极。

公开(公告)号：US09364952B2

公开(公告)日：2016-06-14

申请号：US14505282

申请日：2014-10-02

Applicant: CANON KABUSHIKI KAISHA

Inventor： Masayuki Arai

IPC: G05B15/00 ,  B25J9/16 ,  G01L5/22 ,  G01L5/00

CPC classification number: B25J9/1633 ,  B25J9/1612 ,  G01L5/0071 ,  G01L5/226 ,  G05B2219/39496 ,  G05B2219/39528

Abstract: An end effector base and a finger unit are formed as separate members, and are disposed with a space therebetween. A force sensor is fixed to a finger base of the finger unit, and is disposed with a space between it and the end effector base. Three supporting members are supported by the end effector base, and are configured to be able to be moved by the driving of a driving unit to a position where they support the force sensor and a position where they are separated from the force sensor and support the finger unit.

Abstract translation: 端部执行器基座和指状单元形成为分离的构件，并且在它们之间设置有空间。 力传感器固定在手指单元的手指基部，并且在其与末端执行器底座之间设置有空间。 三个支撑构件由末端执行器基座支撑，并且构造成能够通过驱动单元的驱动而移动到其支撑力传感器的位置以及与力传感器分离的位置，并支撑 手指单位。

公开(公告)号：US09347838B2

公开(公告)日：2016-05-24

申请号：US13896333

申请日：2013-05-17

Applicant: Industrial Technology Research Institute

Inventor： Sheng-Jui Chen ,  Gwo-Jen Wu ,  Chung-Lin Wu ,  Jian-Lin Huang

IPC: G01L1/14 ,  G01L5/22 ,  B25J13/08

CPC classification number: G01L1/142 ,  B25J13/083 ,  G01L5/226

Abstract: A capacitive shear force sensor and a method for fabricating thereof are provided. The capacitive shear force sensor includes a first electric field shielding layer, a second electric field shielding layer, a driving electrode, a first sensing electrode, a second sensing electrode and a dielectric layer. The second electric field shielding layer is disposed under the first electric field shielding layer. The driving electrode is disposed between the first electric field shielding layer and the second electric field shielding layer. The first and the second sensing electrodes are disposed between the driving electrode and the second electric field shielding layer. The dielectric layer is disposed between the driving electrode and the first sensing electrode, and between the driving electrode and the second sensing electrode. The first sensing electrode and the driving electrode form a first capacitor. The second sensing electrode and the driving electrode form a second capacitor.

Abstract translation: 提供了一种电容式剪切力传感器及其制造方法。 电容式剪切力传感器包括第一电场屏蔽层，第二电场屏蔽层，驱动电极，第一感测电极，第二感测电极和电介质层。 第二电场屏蔽层设置在第一电场屏蔽层的下方。 驱动电极设置在第一电场屏蔽层和第二电场屏蔽层之间。 第一和第二感测电极设置在驱动电极和第二电场屏蔽层之间。 电介质层设置在驱动电极和第一感测电极之间以及驱动电极和第二感测电极之间。 第一感测电极和驱动电极形成第一电容器。 第二感测电极和驱动电极形成第二电容器。

公开(公告)号：US09322728B2

公开(公告)日：2016-04-26

申请号：US13967867

申请日：2013-08-15

Applicant: Seiko Epson Corporation

Inventor： Hironori Suzuki

IPC: G01L9/00 ,  G01L5/22 ,  G01L9/08 ,  G01L11/06 ,  B25J13/08 ,  H01L27/20 ,  H01L41/113 ,  H01L41/332 ,  H01L41/22 ,  G01L1/02

CPC classification number: G01L5/226 ,  B25J13/082 ,  G01L1/02 ,  G01L9/0022 ,  G01L9/08 ,  G01L11/06 ,  H01L27/20 ,  H01L41/1132 ,  H01L41/22 ,  H01L41/332 ,  Y10T29/42

Abstract: A pressure sensor includes: a supporting body which has an opening; a pressure detecting portion which includes a supporting film provided on the supporting body and having a diaphragm portion closing the opening, and a piezoelectric body provided on the diaphragm portion and deflecting to output an electric signal; a frame body which has, on the pressure detecting portion, a cylindrical cavity along a film thickness direction of the supporting film, and is formed, in plan view when viewed from the film thickness direction of the supporting film, at a position where a cylindrical inner peripheral wall of the cavity overlaps with the opening, or outside of the opening; a sealing film which closes the frame body; and a silicone oil which is filled in an inner space formed of the cylindrical inner peripheral wall of the cavity, the sealing film, and the pressure detecting portion.

公开(公告)号：US20150323398A1

公开(公告)日：2015-11-12

申请号：US14802337

申请日：2015-07-17

Applicant: ROBOTIQ INC.

Inventor： Nicolas LAUZIER ,  Simon LEFRANÇOIS ,  David CASTONGUAY ,  Louis-Alexis ALLEN DEMERS ,  Jean-François DUVAL ,  Yan DROLET MIHELIC ,  Pierre Olivier PROULX ,  Rachid BEKHTI ,  Philippe CARDOU ,  Vincent DUCHAINE ,  Samuel BOUCHARD ,  Jean-Philippe JOBIN

IPC: G01L1/14 ,  B25J9/16

CPC classification number: G01L1/14 ,  B25J9/0081 ,  B25J9/163 ,  B25J13/085 ,  G01L5/16 ,  G01L5/226 ,  G01L25/00 ,  G05B19/423 ,  G05B2219/39529 ,  Y10S901/02 ,  Y10S901/30

Abstract: This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

Abstract translation: 本发明涉及力/扭矩传感器，更具体地涉及多轴力/转矩传感器以及用于直接将任务教导给机电一体机械手的方法。 力/扭矩传感器具有壳体，形成壳体的一部分或连接到壳体的外框架，形成壳体的一部分或连接到壳体的内框架，将外框架连接到内框架的柔顺构件以及一个或多个测量 当在外框架和内框架之间施加力或扭矩时，安装在壳体中的元件用于测量柔顺构件的顺应性。

公开(公告)号：US09102067B2

公开(公告)日：2015-08-11

申请号：US13669879

申请日：2012-11-06

Applicant: Seiko Epson Corporation

Inventor： Hiroki Kawai

IPC: G01L1/16 ,  B25J19/02 ,  G01L5/16

CPC classification number: G01L1/16 ,  B25J9/1694 ,  B25J19/028 ,  G01L1/162 ,  G01L5/167 ,  G01L5/226 ,  H01L41/1132 ,  H01L41/1873 ,  Y10S901/46

Abstract: A sensor element includes a piezoelectric substrate made of a trigonal single crystal and an electrode arranged on the piezoelectric substrate. The substrate surface of the piezoelectric substrate includes an electrical axis of crystal axes. An angle θ formed by the substrate surface and a plane including the electrical axis and an optical axis of the crystal axes is 0°

Abstract translation: 传感器元件包括由三角单晶制成的压电基板和布置在压电基板上的电极。 压电基板的基板表面包括晶轴的电轴。 角度和角度 由基板表面形成的平面和包括电轴和晶轴的光轴的平面为0°<<θ; <20°。

公开(公告)号：US09074955B2

公开(公告)日：2015-07-07

申请号：US13233500

申请日：2011-09-15

Applicant: Tomo Ikebe

Inventor： Tomo Ikebe

IPC: G01L1/00 ,  G01L5/22 ,  G01L5/16 ,  B25J13/08

CPC classification number: G01L5/226 ,  B25J13/084 ,  G01L5/16

Abstract: A detection device includes: a detecting unit having a first substrate on which a plurality of pressure sensors are disposed around a reference point and a second substrate on which is formed an elastic projection whose center of gravity is positioned in a position overlapping with the reference point and that elastically deforms due to an external force in a state in which the tip of the elastic projection makes contact with the first substrate; and a controller that carries out detection operations for detecting the presence/absence of the external force based on pressure values detected by at least one of the plurality of pressure sensors, and controls the next detection operations of the detection unit based on the result of the previous detection.

Abstract translation: 检测装置包括：检测单元，具有第一基板，多个压力传感器围绕基准点设置在其上;第二基板，其上形成有弹性突起，弹性突起的重心位于与基准点重叠的位置 并且在弹性突起的前端与第一基板接触的状态下由于外力而弹性变形; 以及控制器，其基于由所述多个压力传感器中的至少一个检测到的压力值，执行用于检测所述外力的有无的检测动作，并且基于所述检测单元的结果来控制所述检测单元的下一个检测操作 以前的检测。

公开(公告)号：US09052775B1

公开(公告)日：2015-06-09

申请号：US13556393

申请日：2012-07-24

Applicant: Curt Michael Salisbury

Inventor： Curt Michael Salisbury

IPC: G01L1/24 ,  G01L3/00 ,  G06F3/042

CPC classification number: G06F3/042 ,  G01L1/24 ,  G01L1/241 ,  G01L5/226 ,  G06F3/0421

Abstract: Various technologies described herein pertain to a tactile sensor that senses normal load and/or shear load. The tactile sensor includes a first layer and an optically transparent layer bonded together. At least a portion of the first layer is made of optically reflective material. The optically transparent layer is made of resilient material (e.g., clear silicone rubber). The tactile sensor includes light emitter/light detector pair(s), which respectively detect either normal load or shear load. Light emitter(s) emit light that traverses through the optically transparent layer and reflects off optically reflective material of the first layer, and light detector(s) detect and measure intensity of reflected light. When a normal load is applied, the optically transparent layer compresses, causing a change in reflected light intensity. When shear load is applied, a boundary between optically reflective material and optically absorptive material is laterally displaced, causing a change in reflected light intensity.

Abstract translation: 本文描述的各种技术涉及感测正常负载和/或剪切载荷的触觉传感器。 触觉传感器包括粘合在一起的第一层和光学透明层。 第一层的至少一部分由光学反射材料制成。 光学透明层由弹性材料（例如透明硅橡胶）制成。 触觉传感器包括分别检测法向载荷或剪切载荷的光发射器/光检测器对。 光发射器发射穿过光学透明层的光并且反射第一层的光反射材料，并且光检测器检测并测量反射光的强度。 当施加正常负载时，光学透明层压缩，导致反射光强度的变化。 当施加剪切载荷时，光反射材料和光吸收材料之间的边界被横向移位，导致反射光强度的变化。

公开(公告)号：US09030653B1

公开(公告)日：2015-05-12

申请号：US14391613

申请日：2012-10-31

Applicant: Utku Buyuksahin

Inventor： Utku Buyuksahin

IPC: G01B11/16 ,  G01L5/22 ,  G01L1/24

CPC classification number: G01L5/226 ,  G01L1/242 ,  G01L1/248 ,  G01L5/228

Abstract: The features of the system are: fiber optic cables (instead of human sensory receptor) and low cost CMOS or CCD image sensor (which can be found in a conventional webcam, camcorder, digital camera etc.) are used by pairing each pixel of the image sensor with corresponding fiber optic cable, which is assured to transfer all light beams to the processor on a single photo frame where the coordinates and the level of displacements are detected precisely by the aid of image processing techniques, in order to provide tactile sensing. The system can work with a computer or it can work individually with an electronically circuit that contains an independent processor.

Abstract translation: 该系统的特点是：将光纤电缆（而不是人感觉接收器）和低成本的CMOS或CCD图像传感器（可以在传统的网络摄像头，摄像机，数码相机等中找到）通过将每个像素 图像传感器，其具有相应的光纤电缆，其被确保将所有光束传输到单个相框上的处理器，其中通过图像处理技术精确地检测坐标和位移水平，以便提供触觉感测。 该系统可以与计算机一起工作，或者可以使用包含独立处理器的电子电路单独工作。

公开(公告)号：US20150112486A1

公开(公告)日：2015-04-23

申请号：US14560501

申请日：2014-12-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: G01L5/22 ,  B25J18/06

CPC classification number: A61B34/30 ,  A61B34/77 ,  A61B2034/301 ,  B25J9/1689 ,  B25J13/025 ,  B25J18/06 ,  G01L5/226 ,  Y10S901/15 ,  Y10S901/17 ,  Y10S901/46

Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.

Abstract translation: 弯曲传感器用于确定施加到机器人手臂的力。 力可以是施加到臂的外力，内部致动力或两者。 在一些方面，加强元件用于将臂恢复到最小的运动能态。 在其他方面，消除了加强元件，并且臂完全致动。