公开(公告)号：US20170036349A1

公开(公告)日：2017-02-09

申请号：US15281382

申请日：2016-09-30

Applicant: President and Fellows of Harvard College

Inventor： Zivthan A. Dubrovsky ,  Raphael G. Cherney ,  Michael Mogenson ,  Justin Werfel ,  Kathleen O'Donnell ,  Radhika Nagpal ,  Nils Napp ,  Hani M. Sallum ,  Julian U. da Silva Gillig

IPC: B25J9/16 ,  B25J11/00

CPC classification number: B43L19/0006 ,  B43L13/022 ,  G05D1/0011 ,  G05D1/027 ,  Y10S901/01

Abstract: In a method for interactive marking by a mobile robot on a vertical surface, a mobile robot that includes a sensor and an actuated marker is displaced across a vertical surface. Features on, in or behind the vertical surface are detected with the sensor. Displacement of the mobile robot and actuation of the actuated marker is controlled in response to the detection of these features.

Abstract translation: 在用于在垂直表面上由移动机器人进行交互式标记的方法中，包括传感器和致动标记的移动机器人在垂直表面上移位。 用传感器检测垂直表面上，后面或后面的特征。 响应于这些特征的检测来控制移动机器人的位移和致动标记的致动。

公开(公告)号：US10527507B2

公开(公告)日：2020-01-07

申请号：US15823030

申请日：2017-11-27

Applicant: President and Fellows of Harvard College

Inventor： Robert J. Wood ,  Yong-Lae Park ,  Carmel S. Majidi ,  Bor-rong Chen ,  Leia Stirling ,  Conor James Walsh ,  Radhika Nagpal ,  Diana Young ,  Yigit Menguc

IPC: G01L1/22 ,  B25J13/08 ,  G06F3/01 ,  A61B5/103 ,  A61B5/11 ,  A61F2/10 ,  A43B13/20 ,  A43B23/02 ,  A61B5/00

Abstract: An elastic strain sensor can be incorporated into an artificial skin that can sense flexing by the underlying support structure of the skin to detect and track motion of the support structure. The unidirectional elastic strain sensor can be formed by filling two or more channels in an elastic substrate material with a conductive liquid. At the ends of the channels, a loop port connects the channels to form a serpentine channel. The channels extend along the direction of strain and the loop portions have sufficiently large cross-sectional area in the direction transverse to the direction of strain that the sensor is unidirectional. The resistance is measured at the ends of the serpentine channel and can be used to determine the strain on the sensor. Additional channels can be added to increase the sensitivity of the sensor. The sensors can be stacked on top of each other to increase the sensitivity of the sensor. In other embodiments, two sensors oriented in different directions can be stacked on top of each other and bonded together to form a bidirectional sensor. A third sensor formed by in the shape of a spiral or concentric rings can be stacked on top and used to sense contact or pressure, forming a three dimensional sensor. The three dimensional sensor can be incorporated into an artificial skin to provide advanced sensing.

公开(公告)号：US10086516B2

公开(公告)日：2018-10-02

申请号：US15281382

申请日：2016-09-30

Applicant: President and Fellows of Harvard College

Inventor： Zivthan A. Dubrovsky ,  Raphael G. Cherney ,  Michael Mogenson ,  Justin Werfel ,  Kathleen O'Donnell ,  Radhika Nagpal ,  Nils Napp ,  Hani M. Sallum ,  Julian U. da Silva Gillig

IPC: G05B15/00 ,  B25J9/16 ,  B43L13/02

Abstract: In a method for interactive marking by a mobile robot on a vertical surface, a mobile robot that includes a sensor and an actuated marker is displaced across a vertical surface. Features on, in or behind the vertical surface are detected with the sensor. Displacement of the mobile robot and actuation of the actuated marker is controlled in response to the detection of these features.

公开(公告)号：US09841331B2

公开(公告)日：2017-12-12

申请号：US14346853

申请日：2012-09-24

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Robert J. Wood ,  Yong-Lae Park ,  Carmel S. Majidi ,  Bor-rong Chen ,  Leia Stirling ,  Conor James Walsh ,  Radhika Nagpal ,  Diana Young ,  Yigit Menguc

IPC: G01L1/22 ,  B25J13/08 ,  G06F3/01 ,  A61B5/103 ,  A61B5/11 ,  A61F2/10 ,  A43B13/20 ,  A43B23/02 ,  A61B5/00

CPC classification number: G01L1/22 ,  A43B13/203 ,  A43B23/029 ,  A61B5/1036 ,  A61B5/112 ,  A61B5/6807 ,  A61B2562/0247 ,  A61B2562/0261 ,  A61F2/105 ,  B25J13/08 ,  G01L1/2287 ,  G06F3/011 ,  G06F3/014

Abstract: An elastic strain sensor can be incorporated into an artificial skin that can sense flexing by the underlying support structure of the skin to detect and track motion of the support structure. The uni-directional elastic strain sensor can be formed by filling two or more channels in an elastic substrate material with a conductive liquid. At the ends of the channels, a loop port connects the channels to form a serpentine channel. The channels extend along the direction of strain and the loop portions have sufficiently large cross-sectional area in the direction transverse to the direction of strain that the sensor is unidirectional. The resistance is measured at the ends of the serpentine channel and can be used to determine the strain on the sensor. Additional channels can be added to increase the sensitivity of the sensor. The sensors can be stacked on top of each other to increase the sensitivity of the sensor. In other embodiments, two sensors oriented in different directions can be stacked on top of each other and bonded together to form a bidirectional sensor. A third sensor formed by in the shape of a spiral or concentric rings can be stacked on top and used to sense contact or pressure, forming a three dimensional sensor. The three dimensional sensor can be incorporated into an artificial skin to provide advanced sensing.

公开(公告)号：US20180143091A1

公开(公告)日：2018-05-24

申请号：US15823030

申请日：2017-11-27

Applicant: President and Fellows of Harvard College

Inventor： Robert J. Wood ,  Yong-Lae Park ,  Carmel S. Majidi ,  Bor-rong Chen ,  Leia Stirling ,  Conor James Walsh ,  Radhika Nagpal ,  Diana Young ,  Yigit Menguc

IPC: G01L1/22 ,  A43B23/02 ,  A61B5/103 ,  B25J13/08 ,  A61B5/11 ,  A43B13/20 ,  G06F3/01 ,  A61F2/10 ,  A61B5/00

Abstract: An elastic strain sensor can be incorporated into an artificial skin that can sense flexing by the underlying support structure of the skin to detect and track motion of the support structure. The unidirectional elastic strain sensor can be formed by filling two or more channels in an elastic substrate material with a conductive liquid. At the ends of the channels, a loop port connects the channels to form a serpentine channel. The channels extend along the direction of strain and the loop portions have sufficiently large cross-sectional area in the direction transverse to the direction of strain that the sensor is unidirectional. The resistance is measured at the ends of the serpentine channel and can be used to determine the strain on the sensor. Additional channels can be added to increase the sensitivity of the sensor. The sensors can be stacked on top of each other to increase the sensitivity of the sensor. In other embodiments, two sensors oriented in different directions can be stacked on top of each other and bonded together to form a bidirectional sensor. A third sensor formed by in the shape of a spiral or concentric rings can be stacked on top and used to sense contact or pressure, forming a three dimensional sensor. The three dimensional sensor can be incorporated into an artificial skin to provide advanced sensing.