TENDON TENSION SENSOR
First Claim
Patent Images
1. A tendon tension sensor comprising:
- a first end portion including a first curved channel;
a second end portion including a second curved channel;
a narrow center portion coupled to and between the first and second end portions; and
at least one strain gauge mounted to the center portion, wherein the first and second curved channels are operable to accept a continuous length of a tendon such that tension on the tendon causes the center portion to flex which can be measured by the at least one strain gauge.
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Abstract
A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.
16 Citations
20 Claims
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1. A tendon tension sensor comprising:
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a first end portion including a first curved channel; a second end portion including a second curved channel; a narrow center portion coupled to and between the first and second end portions; and at least one strain gauge mounted to the center portion, wherein the first and second curved channels are operable to accept a continuous length of a tendon such that tension on the tendon causes the center portion to flex which can be measured by the at least one strain gauge. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A tendon tension sensor comprising:
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a single piece elastic element a first end portion including the first curved channel, a second end portion including a second curved channel and a narrowed middle portion coupled and between the first and second end portions; and a first strain gauge mounted to one surface of the center portion and a second strain gauge mounted to an opposing surface of the center portion, wherein the first and second curved channels accept a continuous length of a tendon such that tension on the tendon causes the center portion to flex which can be measured by the first and second strain gauges. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A tendon tension sensor for measuring the tension on a tendon that controls a grasping force of a finger in a robotic arm, said tension sensor comprising:
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an elastic element including a generally rounded first end portion including a first curved channel, a generally rounded second end portion including a second curved channel and a narrowed center portion coupled to and between the first and second end portions; and at least one strain gauge mounted to the center portion, wherein the tendon is threaded through the first and second curved channels such that tension on the tendon causes the center portion to flex which can be measured by the at least one strain gauge. - View Dependent Claims (18, 19, 20)
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Specification