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    Robot arm control device and robot arm operation method
    2.
    发明授权
    Robot arm control device and robot arm operation method 有权

    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.

    Pressure array sensor module and manufacturing method thereof
    3.
    发明授权
    Pressure array sensor module and manufacturing method thereof 有权

    公开(公告)号：US09784626B2

    公开(公告)日：2017-10-10

    申请号：US14573725

    申请日：2014-12-17

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Chang-Yi Chen ,  Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Ho Liou

    IPC: G01L1/00 ,  G01L17/00

    CPC classification number: G01L1/005 ,  G01L17/005

    Abstract: A pressure array sensor module, comprising 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 comprises a substrate and an electrode array disposed on the substrate and having a first electrode pattern and a second electrode pattern. Each pressure sensing element is disposed at a sensing position on the array electrode board, and comprises a top electrode layer, a bottom electrode layer and at least one pressure sensing layer disposed between the top electrode layer and the bottom electrode layer. The top electrode layer has a first lead. The bottom electrode layer has a second lead. The first conductive structure electrically connects the first lead and the corresponding first electrode pattern. The second conductive structure electrically connects the second lead and the corresponding second electrode pattern.

    Control device of robot arm and teaching system and method using the same
    4.
    发明授权
    Control device of robot arm and teaching system and method using the same 有权

    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.

    PRESSURE ARRAY SENSOR MODULE AND MANUFACTURING METHOD THEREOF
    7.
    发明申请
    PRESSURE ARRAY SENSOR MODULE AND MANUFACTURING METHOD THEREOF 有权
    压力传感器模块及其制造方法

    公开(公告)号：US20160097688A1

    公开(公告)日：2016-04-07

    申请号：US14573725

    申请日：2014-12-17

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Chang-Yi Chen ,  Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Ho Liou

    IPC: G01L1/00

    CPC classification number: G01L1/005 ,  G01L17/005

    Abstract: A pressure array sensor module, comprising 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 comprises a substrate and an electrode array disposed on the substrate and having a first electrode pattern and a second electrode pattern. Each pressure sensing element is disposed at a sensing position on the array electrode board, and comprises a top electrode layer, a bottom electrode layer and at least one pressure sensing layer disposed between the top electrode layer and the bottom electrode layer. The top electrode layer has a first lead. The bottom electrode layer has a second lead. The first conductive structure electrically connects the first lead and the corresponding first electrode pattern. The second conductive structure electrically connects the second lead and the corresponding second electrode pattern.

    Abstract translation: 一种压力阵列传感器模块，包括阵列电极板，多个压力感测元件，至少一个第一导电结构和至少一个第二导电结构。 阵列电极板包括衬底和布置在衬底上并具有第一电极图案和第二电极图案的电极阵列。 每个压力感测元件设置在阵列电极板上的感测位置，并且包括顶电极层，底电极层和设置在顶电极层和底电极层之间的至少一个压力感测层。 顶部电极层具有第一引线。 底部电极层具有第二引线。 第一导电结构电连接第一引线和相应的第一电极图案。 第二导电结构电连接第二引线和相应的第二电极图案。

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