公开(公告)号：US20150292968A1

公开(公告)日：2015-10-15

申请号：US14438792

申请日：2013-10-22

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Daniel Vogt ,  Yong-Lae Park ,  Robert J. Wood

IPC: G01L5/16 ,  G01L1/02 ,  G01L1/20

CPC classification number: G01L5/161 ,  A61B2562/0261 ,  A61B2562/164 ,  G01L1/02 ,  G01L1/20

Abstract: A sensor including a layer having viscoelastic properties, the layer comprising a void, the void filled with a fluid; and optionally, a more rigid sensing element embedded within the layer. When a force is applied to a surface of the sensor, the shape of the void changes, causing the electrical resistance of the fluid in the void to change. When included, the more rigid sensing element can bear upon the void to cause the electrical resistance of the fluid in the void to change. A direction and intensity of the force can be determined by measuring the change of the electrical resistance of different voids positioned about the sensing element. The layer can be an elastomer, preferably silicone rubber. The fluid can be a conductive liquid, preferably Eutectic Gallium Indium. The sensing element can be plastic and can have a “Joystick” shape. The voids can take the form of channels or microchannels having a predefined pattern and/or shape.

Abstract translation: 一种传感器，包括具有粘弹性的层，所述层包括空隙，填充有流体的空隙; 并且可选地，嵌入该层内的更刚性的感测元件。 当向传感器的表面施加力时，空隙的形状变化，导致空隙中的流体的电阻改变。 当包括时，更刚性的传感元件可以承受空隙以使空隙中的流体的电阻改变。 力的方向和强度可以通过测量位于感测元件周围的不同空隙的电阻的变化来确定。 该层可以是弹性体，优选硅橡胶。 流体可以是导电液体，优选共晶镓铟。 传感元件可以是塑料，并且可以具有“操纵杆”的形状。 空隙可以采取具有预定图案和/或形状的通道或微通道的形式。

公开(公告)号：US10562260B2

公开(公告)日：2020-02-18

申请号：US14762033

申请日：2014-01-21

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Yong-Lae Park ,  Robert J. Wood ,  Jobim Jose Robinsantos ,  Eugene C. Goldfield

IPC: B32B3/00 ,  F15B15/10 ,  B29D23/00 ,  B29C39/12 ,  F15B15/28 ,  B29K101/00 ,  B29K105/14 ,  B29K105/24

Abstract: A pneumatic artificial muscle (PAM) actuator body can be formed from an elastic material that includes an inflatable chamber and a restraining component, such as flexible, but inextensible fibers, that causes the actuator to contract when the chamber is inflated with fluid (e.g., air or water). The actuator body can be cylindrical or flat. The actuator body can include a sensor layer formed of an elastic material including a microchannel filled with a conductive fluid to sense the expansion of the actuator body. The sensor layer can be configured to expand when the actuator body is inflated causing the electrical resistance of the conductive fluid to change. A sensor layer between the actuator body and restraining component can be used to measure changes in the contraction force of the actuator and a sensor layer outside of the restraining component can be used to measure changes in the length of the actuator.

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：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.

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：US09797791B2

公开(公告)日：2017-10-24

申请号：US14438792

申请日：2013-10-22

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Daniel Vogt ,  Yong-Lae Park ,  Robert J. Wood

IPC: G01L1/02 ,  G01L5/08 ,  G01L7/00 ,  G01L5/16 ,  G01L1/20

CPC classification number: G01L5/161 ,  A61B2562/0261 ,  A61B2562/164 ,  G01L1/02 ,  G01L1/20

Abstract: A sensor including a layer having viscoelastic properties, the layer comprising a void, the void filled with a fluid; and optionally, a more rigid sensing element embedded within the layer. When a force is applied to a surface of the sensor, the shape of the void changes, causing the electrical resistance of the fluid in the void to change. When included, the more rigid sensing element can bear upon the void to cause the electrical resistance of the fluid in the void to change. A direction and intensity of the force can be determined by measuring the change of the electrical resistance of different voids positioned about the sensing element. The layer can be an elastomer, preferably silicone rubber. The fluid can be a conductive liquid, preferably Eutectic Gallium Indium. The sensing element can be plastic and can have a “Joystick” shape. The voids can take the form of channels or microchannels having a predefined pattern and/or shape.