公开(公告)号：US20230330873A1

公开(公告)日：2023-10-19

申请号：US18132791

申请日：2023-04-10

Applicant: SAMSUNG ELECTRONICS CO, Ltd.

Inventor： Siddharth RUPAVATHARAM ,  Xiaoran FAN ,  Daewon LEE ,  Richard HOWARD ,  Lawrence JACKEL ,  Ibrahim Volkan ISLER ,  Daniel LEE

IPC: B25J19/02 ,  B25J9/16

CPC classification number: B25J19/026 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1676 ,  B25J19/028

Abstract: An apparatus for estimating a proximity direction of an obstacle includes an acoustic transmitter attached to a surface of the apparatus; a first acoustic receiver spaced apart from the surface of the apparatus; a second acoustic receiver spaced apart from the surface of the apparatus; and at least one processor configured to: control the acoustic transmitter to generate an acoustic wave along the surface; obtain first and second proximity direction signals based on first and second acoustic wave signals corresponding to the generated acoustic wave; and estimate a proximity direction of the obstacle with respect to the apparatus based on the first and second proximity direction signals.

公开(公告)号：US20240100705A1

公开(公告)日：2024-03-28

申请号：US18239437

申请日：2023-08-29

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Siddharth RUPAVATHARAM ,  Richard Howard ,  Daewon Lee ,  Lawrence Jackel ,  Caleb Sebastian Escobedo ,  Ibrahim Volkan Isler

IPC: B25J9/16 ,  B25J15/08

CPC classification number: B25J9/1694 ,  B25J15/08 ,  G01B17/00

Abstract: In some embodiments, an apparatus for performing reactive positioning of a robot gripper includes one or more fingers disposed on an end-effector of the robot, a signal processing circuit, a memory storing instructions, and a processor. Each of the one or more fingers includes a transducer configured to generate vibrational energy based on an input signal, and convert an acoustic reflection of the vibrational energy from an object into a voltage signal. The signal processing circuit is configured to provide the input signal to each transducer, and perform signal processing on the voltage signal of each transducer resulting in reflection data. The processor is configured to execute the instructions to perform pre-touch proximity detection on the reflection data, perform grasp positioning on the reflection data, perform contact detection from the reflection data, and provide, to the robot, results of the pre-touch proximity detection, the grasp positioning, and the contact detection.