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PHOTO-INTERRUPTER BASED FORCE SENSING HANDLE AND METHOD OF USE

  • US 20110129320A1
  • Filed: 11/30/2009
  • Published: 06/02/2011
  • Est. Priority Date: 11/30/2009
  • Status: Active Grant
First Claim
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1. A robotic system comprising:

  • at least one handle;

    a robot adapted for moving a payload in response to a calculated input force, the calculated input force being determined when a human operator applies an actual input force to the at least one handle;

    a plurality of sensors each enclosed within a respective sensor housing, and operatively connected to the at least one handle, wherein each of the plurality of sensors includes a light emitter adapted for emitting a light beam and a light receiver adapted for receiving at least a portion of the light beam, and wherein each of the plurality of sensors is adapted for measuring the portion of the light beam received by a respective one of the light receivers; and

    a controller having a host machine and an algorithm, the algorithm being executable by the host machine to thereby determine the calculated input force using the portion of the light beam received by each of the plurality of light receivers;

    wherein each of the respective sensor housings is adapted to modify an interruption of a transmission of the light beam when the actual input force is applied to the at least one handle by the operator, and wherein the controller is adapted to automatically control an action of the robot using the calculated input force.

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