公开(公告)号：US09868213B2

公开(公告)日：2018-01-16

申请号：US14823500

申请日：2015-08-11

Applicant: EMPIRE TECHNOLOGY DEVELOPMENT LLC

Inventor： Kevin S Fine ,  Ezekiel Kruglick

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  G05B2219/40201 ,  Y10S901/09 ,  Y10S901/15 ,  Y10S901/46

Abstract: Technologies are generally described for detection of incidental robot-human contact. In some examples, a robotic actuator movement may generate a feedback signal, such as a haptic signal, a proprioreceptive signal, an optical signal, and/or an infrared signal. A tremor detector may determine whether the feedback signal contains a tremor signal characteristic of a human, for example by determining whether frequency components in the feedback signal fall within particular frequency ranges. Upon determining that the feedback signal does contain a tremor signal characteristic of a human, the tremor detector may conclude that the robotic actuator has come into contact with a human, and may cause the actuator to halt its movement.