公开(公告)号：US09625333B2

公开(公告)日：2017-04-18

申请号：US14212609

申请日：2014-03-14

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Leif Jentoft ,  Yaroslav Tenzer ,  Robert Howe

IPC: G01L5/16 ,  G01L5/22 ,  G01L1/02

CPC classification number: G01L5/228 ,  G01L1/02 ,  G01L5/16 ,  H01L2224/48137 ,  Y10T29/49007

Abstract: A tactile sensor includes a pressure transducer encapsulated in an elastic material that defines a contact surface and provides a transmission path that transmits contact forces or pressure distributions applied to the contact surface to the pressure transducer. The pressure transducer can be enclosed in a protective housing that defines a chamber around the transducer. The housing can include one or more openings that expose the chamber to the exterior pressure. The tactile sensor can be made by applying the elastic material in liquid form and exposing the housing to a vacuum that removes air inside the chamber allowing the liquid elastic material to flow into the chamber. Once cured, the elastic material defines a contact surface of the tactile sensor and serves to transfer contact forces applied to the contact surface to the transducer.

公开(公告)号：US10259122B2

公开(公告)日：2019-04-16

申请号：US15553358

申请日：2016-03-04

Applicant: President and Fellows of Harvard College

Inventor： Lael Ulam Odhner ,  Leif Patrick Jentoft ,  Yaroslav Tenzer

IPC: B25J13/08 ,  B25J15/02 ,  B25J15/12 ,  B25J15/00

Abstract: A compliant adaptive robot grasper comprises a multi-bar finger linkage, including a fingertip link, at least one base link, and front and rear links joining the base link via a first set of joints with the fingertip links via a second set of joints. The base link includes a mounting structure, allowing it to be mounted on a mounting block for rotary actuation. Linear connections between the joints form a shape substantially in the form of a parallelogram allowing the linear connections across the front and rear links to remain substantially parallel to one another as the front and rear links pivot about the base link without substantially changing the orientation of the fingertip link until and unless the multi-bar finger linkage contacts an external object.

公开(公告)号：US20180117773A1

公开(公告)日：2018-05-03

申请号：US15553358

申请日：2016-03-04

Applicant: President and Fellows of Harvard College

Inventor： Lael Ulam Odhner ,  Leif Patrick Jentoft ,  Yaroslav Tenzer

IPC: B25J15/02 ,  B25J13/08 ,  B25J15/00

CPC classification number: B25J15/022 ,  B25J13/084 ,  B25J15/0009 ,  B25J15/024 ,  B25J15/12

Abstract: A compliant adaptive robot grasper comprises a multi-bar finger linkage, including a fingertip link, at least one base link, and front and rear links joining the base link via a first set of joints with the fingertip links via a second set of joints. The base link includes a mounting structure, allowing it to be mounted on a mounting block for rotary actuation. Linear connections between the joints form a shape substantially in the form of a parallelogram allowing the linear connections across the front and rear links to remain substantially parallel to one another as the front and rear links pivot about the base link without substantially changing the orientation of the fingertip link until and unless the multi-bar finger linkage contacts an external object.