公开(公告)号：US20180043549A1

公开(公告)日：2018-02-15

申请号：US15393602

申请日：2016-12-29

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko ,  Hung-Hsiu Yu ,  Jwu-Sheng Hu

IPC: B25J19/06 ,  B25J9/12 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J19/063 ,  B25J9/12 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1676 ,  B25J13/081 ,  B25J13/084 ,  B25J19/06 ,  G05B2219/40201 ,  G05B2219/40202

Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

公开(公告)号：US10556353B2

公开(公告)日：2020-02-11

申请号：US15393602

申请日：2016-12-29

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko ,  Hung-Hsiu Yu ,  Jwu-Sheng Hu

IPC: B25J19/06 ,  B25J13/08 ,  B25J9/16 ,  B25J9/12

Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

公开(公告)号：US10144125B2

公开(公告)日：2018-12-04

申请号：US15392251

申请日：2016-12-28

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Ching-Shun Chen ,  Chang-Yi Chen ,  Cheng-Li Wu ,  Hung-Hsiu Yu

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/00 ,  B25J13/08 ,  G05B19/423 ,  G05B19/425

Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

公开(公告)号：US20180043525A1

公开(公告)日：2018-02-15

申请号：US15392251

申请日：2016-12-28

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Ching-Shun Chen ,  Chang-Yi Chen ,  Cheng-Li Wu ,  Hung-Hsiu Yu

IPC: B25J9/00 ,  B25J13/08

CPC classification number: B25J9/0081 ,  B25J13/081 ,  G05B19/423 ,  G05B19/425 ,  G05B2219/36417 ,  G05B2219/36433 ,  G05B2219/39548

Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

公开(公告)号：US09651434B2

公开(公告)日：2017-05-16

申请号：US14873949

申请日：2015-10-02

Applicant: Industrial Technology Research Institute

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko

IPC: G01D7/00 ,  G01L1/20 ,  A61B5/103 ,  A61B5/00

CPC classification number: G01L1/205 ,  A61B5/1036 ,  A61B5/6807 ,  A61B5/6892 ,  A61B2562/0247 ,  A61B2562/046

Abstract: A pressure array sensor module including an array electrode board, a plurality of pressure sensing elements, at least one first conductive structure and at least one second conductive structure is provided. The array electrode board includes a substrate and an array electrode. The array electrode, disposed on the substrate, has a first electrode pattern and a second electrode pattern. Each pressure sensing element, disposed on a sensing position of the array electrode board, includes a top electrode layer, a bottom electrode layer and at least one pressure sensing layer disposed between the top and bottom electrode layers. The top electrode layer has a first lead. The bottom electrode layer has a second lead. The first conductive structure is electrically connected between each first lead and a corresponding first electrode pattern. The second conductive structure is electrically connected between each second lead and a corresponding second electrode pattern.