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公开(公告)号：US20170363464A1
公开(公告)日：2017-12-21
申请号：US15187445
申请日：2016-06-20
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
CPC classification number: G01L5/16 , B25J13/085 , G01B11/026 , G01B11/14 , G01B11/26 , G01D5/30 , G01J1/04 , G01J1/4228 , G01L1/24 , G01L3/08 , G01L5/0038 , G01L5/0042 , G01L5/009 , G01L5/166
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
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公开(公告)号：US20220339803A1
公开(公告)日：2022-10-27
申请号：US17857443
申请日：2022-07-05
Applicant: X Development LLC
Inventor： Jeffrey Bingham , Taylor Alexander , Bianca Homberg , Joseph DelPreto , Alex Shafer
Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.
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公开(公告)号：US10274386B2
公开(公告)日：2019-04-30
申请号：US15187445
申请日：2016-06-20
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
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公开(公告)号：US11597104B2
公开(公告)日：2023-03-07
申请号：US16528123
申请日：2019-07-31
Applicant: X Development LLC
Inventor： Justine Rembisz , Alex Shafer
IPC: G06F17/00 , B25J19/02 , G01S17/931 , B25J13/08 , G01S7/4865
Abstract: A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.
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公开(公告)号：US20220003620A1
公开(公告)日：2022-01-06
申请号：US17475619
申请日：2021-09-15
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
IPC: G01L5/16 , G01J1/42 , G01J1/04 , G01B11/14 , G01L5/166 , G01B11/02 , G01L3/08 , G01L5/00 , G01B11/26 , G01L1/24 , B25J13/08 , G01D5/30
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
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Patent Agency Ranking
公开(公告)号：US11150152B2
公开(公告)日：2021-10-19
申请号：US16382661
申请日：2019-04-12
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
IPC: G01L5/16 , G01J1/42 , G01J1/04 , G01B11/14 , G01L5/166 , G01B11/02 , G01L3/08 , G01L5/00 , G01B11/26 , G01L1/24 , B25J13/08 , G01D5/30
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
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公开(公告)号：US20190176348A1
公开(公告)日：2019-06-13
申请号：US15839045
申请日：2017-12-12
Applicant: X Development LLC
Inventor： Jeffrey Bingham , Taylor Alexander , Bianca Homberg , Joseph DelPreto , Alex Shafer
CPC classification number: B25J19/023 , B25J9/1035 , B25J13/085 , B25J13/086 , B25J15/0004 , B25J15/0213 , B25J15/12
Abstract: A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.
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公开(公告)号：US20210031385A1
公开(公告)日：2021-02-04
申请号：US16528123
申请日：2019-07-31
Applicant: X Development LLC
Inventor： Justine Rembisz , Alex Shafer
Abstract: A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.
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公开(公告)号：US20190184551A1
公开(公告)日：2019-06-20
申请号：US15851606
申请日：2017-12-21
Applicant: X Development LLC
Inventor： Alex Shafer , Bruce Schena , Mitchell Barham
CPC classification number: B25J9/046 , B25J9/102 , B25J9/126 , F16D13/52 , F16H1/28 , Y10S901/15 , Y10S901/23
Abstract: A robotic arm system is provided. The system includes a one or more roll and/or angle actuators driven by a unidirectional drive. One or more clutches allow the actuators to engage and disengage with a drive shaft or a reverser assembly or angle drive coupled to the drive shaft, thereby permitting changes in rotational direction for the actuators without a change in the rotational direction of the drive.
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公开(公告)号：US20230173695A1
公开(公告)日：2023-06-08
申请号：US18162338
申请日：2023-01-31
Applicant: X Development LLC
Inventor： Justine Rembisz , Alex Shafer
IPC: B25J19/02 , G01S17/931 , B25J13/08 , G01S7/4865
CPC classification number: B25J19/022 , G01S17/931 , B25J13/089 , B25J19/027 , G01S7/4865
Abstract: A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.
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