公开(公告)号：US20240253252A1

公开(公告)日：2024-08-01

申请号：US18561466

申请日：2022-05-09

Applicant: NISSHA CO.,LTD.

Inventor： Yuji WATAZU ,  Katsumi TOKUNO ,  Yuu KUWATAKA ,  Shingo ASAKA ,  Ayuko TSURUOKA

IPC: B25J19/02 ,  B25J15/08 ,  G01L1/14 ,  G01L5/165 ,  G01L5/22

CPC classification number: B25J19/02 ,  B25J15/08 ,  G01L1/142 ,  G01L5/165 ,  G01L5/226

Abstract: A tactile sensor-attached finger is mountable on a robotic hand to reduce damage and failure caused by a grip target coming in contact with a part of a finger member other than its palm surface. A tactile sensor-attached finger (1F) for a robot hand for gripping a grip target includes a finger member (2) including a palm surface (21a) to be in contact with the grip target, a back surface (21b) opposite to the palm surface (21a), an end surface (21c) adjacent to the palm and back surfaces (21a, 21b) on ends of the palm and back surfaces (21a, 21b) in an extension direction in which the palm and back surfaces (21a, 21b) extend, and two side surfaces (21d) adjacent to the palm and back surfaces (21a, 21b) in a direction intersecting with the extension direction, and a tactile sensor (5) being a film attached to an outer surface of a housing (21) included in the finger member (2) and including a pressure-sensitive area (5a) overlapping the palm surface (21a) and at least one of the end surface (21c), one of the two side surfaces (21d), or the other of the two side surfaces (21d).

公开(公告)号：US20240118156A1

公开(公告)日：2024-04-11

申请号：US18376123

申请日：2023-10-03

Applicant: Hitachi, Ltd.

Inventor： Hiroyuki YOSHIMOTO ,  Yu YAMADA

IPC: G01L5/22 ,  G01L5/101

CPC classification number: G01L5/226 ,  G01L5/101

Abstract: A technique that can emit a sensor signal that accurately reflects only the pressure to be truly detected in a glove-type wearable sensor in which a film-like pressure sensor is incorporated into a fingertip of a thin work glove is disclosed. In a film-like pressure sensor incorporated into a fingertip of a glove-type wearable sensor, three coordinate axis directions in a three-dimensional orthogonal coordinate system are assumed to be a vertical direction, a longitudinal direction of the pressure sensor, and a width direction of the pressure sensor, at least one or more flexible printed circuits and one sheet-like pressure sensitive element are laminated in the vertical direction, and only the pressure applied to the fingertip of a wearer after wearing the wearable sensor is detected.

公开(公告)号：US11945098B2

公开(公告)日：2024-04-02

申请号：US16638882

申请日：2018-08-14

Applicant: Contactile Pty Ltd

Inventor： Stephen James Redmond ,  Heba Khamis ,  Benjamin Xia

IPC: B25J13/08 ,  A41D19/015 ,  A61B5/22 ,  G01L5/16 ,  G01L5/166 ,  G01L5/22 ,  G01N19/02

CPC classification number: B25J13/083 ,  A41D19/01541 ,  A61B5/225 ,  G01L5/16 ,  G01L5/226 ,  G01N19/02 ,  G01L5/166

Abstract: A system for assessing grip security, the system comprising: a contact surface having at least a first contact surface region and a second contact surface region, the first contact surface region being configured to resist slip less than the second contact surface region, a sensor for detecting slip in the first contact region.

公开(公告)号：US20230408355A1

公开(公告)日：2023-12-21

申请号：US18252402

申请日：2021-06-10

Applicant: SONY GROUP CORPORATION

Inventor： Ken KOBAYASHI ,  Kei TSUKAMOTO ,  Yoshiaki SAKAKURA ,  Tetsuro GOTO ,  Akira EBISUI

IPC: G01L5/165 ,  B25J19/02 ,  G01L5/22

CPC classification number: G01L5/165 ,  B25J19/02 ,  G01L5/226

Abstract: A sensor apparatus and a robotic apparatus that can detect a distribution of a shearing force. A sensor apparatus according to an embodiment of the present technology includes a sensor section, a separation layer, and a first viscoelastic body layer. The sensor section includes a first pressure sensor on a front side of the sensor section that faces and a second pressure sensor on a rear side of the sensor section, the sensor section detecting a force applied in an in-plane direction. The separation layer is between the first pressure sensor and the second pressure sensor, and is made of a viscoelastic material that is deformed by a load applied to the first pressure sensor. The first viscoelastic body layer is on a front surface of the first pressure sensor, and is made of a viscoelastic material that is deformable on the first pressure sensor in the in-plane direction.

公开(公告)号：US20230366761A1

公开(公告)日：2023-11-16

申请号：US18029434

申请日：2021-09-15

Applicant: NEURA ROBOTICS GMBH

Inventor： Hendrik SUSEMIHL ,  David REGER ,  Kevin DEUTMARG ,  Till STAUDE

IPC: G01L5/16 ,  G01L5/22 ,  B25J13/08

CPC classification number: G01L5/16 ,  G01L5/226 ,  B25J13/085

Abstract: A device for determining, in at least three spatial directions, a force acting on a body includes at least one sensor element for attaching to the surface of the body, which element includes at least three individual sensor elements, each individual sensor element being designed to determine an individual force in one direction, or which includes at least one individual sensor element which is used to determine an individual force in three spatial directions, and an evaluation/control unit which records the individual force determined by each individual sensor element and is designed to calculate the force acting on the sensor element in at least three spatial directions by projecting the individual forces onto a virtual point of the sensor element. A method for determining a force acting on a body in at least three spatial directions and a method for controlling the movement of a body is disclosed.

公开(公告)号：US20230306261A1

公开(公告)日：2023-09-28

申请号：US18038567

申请日：2020-11-24

Applicant: MAX-PLANCK-GESELLSCHAFT ZUR FÖRDERUNG DER WISSENSCHAFTEN E. V.

Inventor： Adam SPIERS ,  Hyosang LEE ,  Georg MARTIUS ,  Huanbo SUN ,  Jonathan FIENE

IPC: G06N3/08 ,  G05B19/4155

CPC classification number: G06N3/08 ,  G05B19/4155 ,  G01L5/226

Abstract: The disclosure relates to a method for force inference of a sensor arrangement for sensing forces, the method including the steps of reading out pressure values and calculating a force map using a feed-forward neural network. The disclosure relates further to corresponding methods for training neural networks, to a force inference module and to a sensor arrangement.

公开(公告)号：US20230266186A1

公开(公告)日：2023-08-24

申请号：US18020674

申请日：2021-08-12

Applicant: Dyson Technology Limited

Inventor： Oliver Joe WHEEN

IPC: G01L3/14 ,  B25J19/02 ,  G01L5/22

CPC classification number: G01L3/1435 ,  B25J19/027 ,  G01L5/226

Abstract: A torque sensor element for measuring a torque applied to a joint is described. The torque sensor element includes: an outer frame and an inner frame respectively to connect to first and second sides of a joint; and a compliant arrangement connecting the outer frame to the inner frame. The compliant arrangement includes: first and second members, each extending between and connecting the outer and inner frames, and each being resilient and deformable to permit some relative rotation between the outer and inner frames in response to an applied torque. A connecting structure extends between the first and second members and includes a first portion intermediate the first and second members which is configured responsive to a deformation of the first and/or second member to move by an amount determined by a degree of relative rotation between the outer and inner frames caused by a torque applied to the joint.

公开(公告)号：US20190195702A1

公开(公告)日：2019-06-27

申请号：US16291612

申请日：2019-03-04

Applicant: ROBOTIQ INC.

Inventor： Nicolas LAUZIER ,  Simon LEFRANÇOIS ,  David CASTONGUAY ,  Louis-Alexis ALLEN DEMERS ,  Jean-François DUVAL ,  Yan DROLET MIHELIC ,  Pierre Olivier PROULX ,  Rachid BEKHTI ,  Philippe CARDOU ,  Vincent DUCHAINE ,  Samuel BOUCHARD ,  Jean-Philippe JOBIN

IPC: G01L1/14 ,  G01L25/00 ,  B25J9/00 ,  B25J13/08 ,  G05B19/423 ,  G01L5/22 ,  G01L5/16 ,  B25J9/16

CPC classification number: G01L1/14 ,  B25J9/0081 ,  B25J9/163 ,  B25J13/085 ,  G01L5/16 ,  G01L5/226 ,  G01L25/00 ,  G05B19/423 ,  G05B2219/39529 ,  Y10S901/02 ,  Y10S901/30

Abstract: This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

公开(公告)号：US20180311836A1

公开(公告)日：2018-11-01

申请号：US15772160

申请日：2016-10-25

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Koji MUNETO

IPC: B25J19/06 ,  B25J9/16 ,  B25J13/08 ,  G01L5/00 ,  G01L5/22

CPC classification number: B25J19/063 ,  B25J9/1633 ,  B25J9/1674 ,  B25J13/085 ,  B25J19/06 ,  G01L5/0052 ,  G01L5/226 ,  G05B2219/37285 ,  G05B2219/37624 ,  G05B2219/39353 ,  G05B2219/41372

Abstract: A monitoring device of a robot system including: a current sensor detecting a value of a current flowing through the servo motor; a current/torque converting the value of the current flowing through the servo motor which is detected by the current sensor into a torque value; a driving torque estimating section estimating at least a part of driving torque required to drive the servo motor; a differential torque calculating differential torque between the torque value obtained by conversion in the current/torque converting section and an estimated value of the driving torque; an external force converting the differential torque calculated by the differential torque calculating section into an external force applied to the robot; and a stop signal generating section which generates to stop the robot based on a value of the external force obtained by conversion in the external force converting section, and supplies the stop signal to the controller.

公开(公告)号：US09970836B2

公开(公告)日：2018-05-15

申请号：US15094116

申请日：2016-04-08

Applicant: RESEARCH AND BUSINESS FOUNDATION SUNGKYUNKWAN UNIVERSITY

Inventor： Hyouk Ryeol Choi ,  Yong Bum Kim ,  Ui Kyum Kim ,  Dong Yub Seok ,  Dong Hyuk Lee

IPC: G01L5/22 ,  G01L5/16

CPC classification number: G01L5/226 ,  G01L5/165

Abstract: Disclosed are a multi-axial force sensor capable of measuring multi-axial force and a grasper for sensing multi-axial force using the same. The multi-axial force sensor includes: a first operating section which includes a first member, and a first protrusion module formed protruding from one side of the first member; an elastic section which is formed at one end of the first member; a second operating section which includes a second member formed with one end to face one end of the first member with the elastic section therebetween, and a second protrusion module formed protruding from one side of the second member to face the first protrusion module; and an electrode section which is formed in the first protrusion module. With this, there is provided a force sensor capable of precisely measuring force through a simple structure.