公开(公告)号：US11794350B2

公开(公告)日：2023-10-24

申请号：US17077937

申请日：2020-10-22

Applicant: Mitsubishi Electric Research Laboratories, Inc.

Inventor： Radu Ioan Corcodel ,  Siddarth Jain ,  Jeroen van Baar

IPC: G05B19/04 ,  B25J9/16 ,  G06T7/70 ,  G06N20/00 ,  G06V20/10 ,  B25J13/08 ,  B25J15/00 ,  G01L1/02

CPC classification number: B25J9/1697 ,  B25J9/163 ,  B25J9/1612 ,  B25J9/1694 ,  B25J13/08 ,  B25J13/084 ,  B25J15/0033 ,  G01L1/02 ,  G06N20/00 ,  G06T7/70 ,  G06V20/10 ,  G05B2219/39543 ,  G05B2219/40553 ,  G05B2219/40575 ,  G05B2219/40625 ,  G06T2207/20081

Abstract: A controller is provided for interactive classification and recognition of an object in a scene using tactile feedback. The controller includes an interface configured to transmit and receive the control, sensor signals from a robot arm, gripper signals from a gripper attached to the robot arm, tactile signals from sensors attached to the gripper and at least one vision sensor, a memory module to store robot control programs, and a classifier and recognition model, and a processor to generate control signals based on the control program and a grasp pose on the object, configured to control the robot arm to grasp the object with the gripper. Further, the processor is configured to compute a tactile feature representation from the tactile sensor signals and to repeat gripping the object and computing a tactile feature representation with the set of grasp poses, after which the processor, processes the ensemble of tactile features to learn a model which is utilized to classify or recognize the object as known or unknown.

公开(公告)号：US10976210B2

公开(公告)日：2021-04-13

申请号：US15574125

申请日：2016-05-18

Applicant: Safran Electronics & Defense

Inventor： Nirina Feliste ,  Scott Delbecq ,  Xavier Mery

IPC: G01L5/00 ,  F15B19/00 ,  G01L13/00 ,  G01L1/02 ,  B64C13/50 ,  G01L1/08 ,  F15B11/028 ,  G01L15/00 ,  F15B11/036

Abstract: The invention concerns a method for estimating an external force acting on an electrohydrostatic actuator, the actuator comprising a ram including a first chamber, a second chamber and a piston located between the first chamber and the second chamber, a pump capable of injecting fluid into the chambers for controlling a movement of the piston, and an electric motor driving the pump, the method comprising steps of: estimating, by means of at least one state observer (21, 22), a dynamic component and a static component of a difference in equivalent fluid pressure between the first chamber and the second chamber from a rotational speed of the electric motor, a position of the piston and a supply current of the electric motor, estimating the external force by means of a post-processing module (23) as a combination of the estimated dynamic component and static component of the difference in fluid pressure.

公开(公告)号：US10591374B2

公开(公告)日：2020-03-17

申请号：US15573086

申请日：2016-05-18

Applicant: BOLLHOFF OTALU S.A.

Inventor： David Macchieraldo ,  Jordi Gargallo ,  Claude Mattler

IPC: G01L7/16 ,  G01L5/24 ,  G01L1/02 ,  H01R43/048

Abstract: A Device for measuring a force applied by a fitting apparatus provided with a threaded rod having an external or internal thread, includes a hydraulic chamber containing a fluid; a piston configured to slide inside the hydraulic chamber; a threaded connector fixed to the piston, the threaded connector having a thread configured in such a way that the threaded rod screws onto the threaded connector, so that the threaded rod can impose an axial force on the piston resulting in travel of the piston in the hydraulic chamber; and a pressure gauge communicating with the hydraulic chamber, configured to measure a pressure inside the hydraulic chamber created by the axial force applied on the piston by the threaded rod.

公开(公告)号：US20190285461A1

公开(公告)日：2019-09-19

申请号：US16318797

申请日：2017-07-18

Applicant: NSK LTD.

Inventor： Masafumi HIKIDA ,  Eisaku SUZUKI ,  Shunsuke SUZUKI ,  Yasuyuki MATSUDA

IPC: G01G19/10 ,  G01L1/02 ,  G01G19/52 ,  G01G5/04

Abstract: A weight measuring device includes: a bottom plate (200) in contact with an arm of a suspension; a piston (300) capable of pressing a diaphragm (230) forming an oil chamber (201) on an upper surface side of the bottom plate; a pressure sensor (400) for detecting a pressure of measurement fluid (R) in the oil chamber on a lower surface side of the bottom plate; an oil discharge hole portion (240) which communicates an inner side of the oil chamber with the atmosphere side and is capable of discharging excess hydraulic oil in the oil chamber; and a sealing portion (242) which is provided in the oil discharge hole portion and seals the oil discharge hole portion after discharging the excess measurement fluid (R) and equilibrating an internal pressure to the atmospheric pressure in a state of no load.

公开(公告)号：US20190154522A1

公开(公告)日：2019-05-23

申请号：US16099938

申请日：2017-02-08

Applicant: MIE ROBOT EXTERIOR TECHNOLOGY LABORATORY CO., LTD.

Inventor： Daisuke MORI

IPC: G01L1/02 ,  B29C44/02 ,  B29C44/42

Abstract: A contact detection device detects pressure over a wide range, be applied to even a three-dimensional structure, and detect predetermined contact pressure or more.A volume space 4 is between a base 1 that is composed of a foamed synthetic resin 10 with a particular shape and the foamed synthetic resin body 10 that is composed of the foamed synthetic resin with a particular shape and covers the foamed synthetic resin body 10. The volume space 4 is on either or both of the base 1 and the foamed synthetic resin 10. Air in the volume space 4 is prevented from leaking trough the base 1 and the foamed synthetic resin 10 to open air. At least one flow sensor 70 detects flow rate (liter/second) of air that flows from the volume space 4 to open air.

公开(公告)号：US10088374B2

公开(公告)日：2018-10-02

申请号：US15621924

申请日：2017-06-13

Applicant: Geoffrey K Rowe

Inventor： Geoffrey K Rowe

IPC: G01L1/04 ,  G01L1/02 ,  G01L5/24 ,  G01G5/04 ,  G01G5/00

Abstract: A reversible force measuring device for ascertaining the magnitude and/or direction of an applied load and having a cavity containing an indicating material such as a fluid, with the cavity configured such that when a load is applied to the device, it causes a reversible volumetric change to the cavity. This change causes the indicating material to move in or out of the cavity in a quantity which corresponds to the magnitude and/or direction of the applied load. By measuring the movement of the indicating material, a user can determine the magnitude and/or direction of the applied load. The device may include a component which generates an electrical signal from the measured movement and transmits this signal to another device to control the tensioning of one or more fastener components and or make other analytical measurements by combining this measurement with other measurements like torque and or angle.

公开(公告)号：US20180067000A1

公开(公告)日：2018-03-08

申请号：US15559617

申请日：2016-03-23

Applicant: NATIONAL UNIVERSITY OF SINGAPORE

Inventor： . Kenry ,  Joo Chuan Yeo ,  Chwee Teck Lim

IPC: G01L1/02 ,  G01L1/22 ,  G01L5/22

CPC classification number: G01L1/02 ,  A61B5/225 ,  G01L1/20 ,  G01L1/22 ,  G01L5/226 ,  G06F3/014

Abstract: A resistive microfluidic pressure sensor is provided which comprises a first layer comprising a microfluidic channel with a carbon-based conductive liquid and a second layer comprising at least two electrodes, the at least two electrodes being adapted to measure resistance of the carbon-based conductive liquid upon deformation of the microfluidic channel as a result of a change in force applied on a surface of the sensor.

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.

公开(公告)号：US20160202130A1

公开(公告)日：2016-07-14

申请号：US14915786

申请日：2014-08-26

Applicant: Geoffrey K Rowe

Inventor： Geoffrey K Rowe

IPC: G01L1/02 ,  G01G5/04

CPC classification number: G01L1/02 ,  G01G5/04 ,  G01L1/04 ,  G01L5/243

Abstract: A reversible force measuring device that can comprise at least one cavity, at least one load receiving area, and at least one indicating material; wherein the indicating material moves in or out of the at least one cavity as its volume changes to indicate the magnitude and/or direction of the applied loads. A reversible force measuring device that can comprise at least one cavity, at least one load receiving area, and at least one indicating material; a fastener causes the indicating material to move in and out of the at least one cavity to indicate the magnitude and/or direction of the applied loads. A reversible force measuring device comprising at least two independent cavities, at least one load receiving area, and at least one indicating material; wherein the difference in volume changes indicates the force as the indicating material moves in or out of the at least two cavities.

Abstract translation: 一种可逆力测量装置，其可包括至少一个空腔，至少一个负载接收区域和至少一个指示材料; 其中当所述指示材料的体积改变以指示施加的载荷的大小和/或方向时，所述指示材料进入或移出所述至少一个空腔。 一种可逆力测量装置，其可包括至少一个空腔，至少一个负载接收区域和至少一个指示材料; 紧固件使得指示材料进入和移出至少一个空腔以指示施加的负载的大小和/或方向。 一种可逆力测量装置，包括至少两个独立的空腔，至少一个负载接收区域和至少一个指示材料; 其中体积变化的差异指示当所述指示材料移入或移出所述至少两个空腔时的力。

公开(公告)号：US20150075291A1

公开(公告)日：2015-03-19

申请号：US14390388

申请日：2013-04-10

Applicant: Geoservices Equipements

Inventor： Christophe Michaud ,  Vincent Chatelet

IPC: G01L5/06 ,  G01L1/02

CPC classification number: G01L5/06 ,  G01L1/02 ,  G01L5/04 ,  G01N2203/0048 ,  G01N2203/0232

Abstract: Tension meter (82) for measuring a mechanical tension (F1) along a longitudinal direction (L) between a first element (84) and a second element (80) deployed in a well containing a fluid (50) having a fluid pressure, the tension meter comprising:—a bar (108) comprising a first portion (152), a second portion (154), and a measurement portion (156), and—a hollow member (110) defining a first chamber (169) surrounding the measurement portion, the bar being free to expand within the hollow member under the mechanical tension (F1) to be measured. The measurement portion includes at least one strain gauge (172). The tension meter includes first sealing elements for keeping the first chamber at a first chamber pressure, the measurement portion being subject to a compression force (F2) due to a difference between the fluid pressure and the first chamber pressure. The tension meter includes means for converting the fluid pressure into a traction force (F3) applied on the second portion (154), wherein the compression force (F2) and the traction force (F3) compensate. Related subassembly and method.

Abstract translation: 用于在第一元件（84）和第二元件（80）之间沿纵向（L）测量机械张力（F1）的张力计（82），其布置在容纳流体压力的流体（50）的井中， 张力计包括：包括第一部分（152），第二部分（154）和测量部分（156）的杆（108），以及限定围绕所述第一部分的第一室（169）的中空构件 测量部分，杆在待测量的机械张力（F1）下在中空构件内自由膨胀。 测量部分包括至少一个应变片（172）。 张力计包括用于将第一室保持在第一室压力的第一密封元件，由于流体压力和第一室压力之间的差异，测量部分受到压缩力（F2）。 张力计包括用于将流体压力转换成施加在第二部分（154）上的牵引力（F3）的装置，其中压缩力（F2）和牵引力（F3）被补偿。 相关子组件和方法。