PHOTO-INTERRUPTER BASED FORCE SENSING HANDLE AND METHOD OF USE
First Claim
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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Accused Products
Abstract
A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.
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Citations
18 Claims
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1. A robotic system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A control system for providing motion control of 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 a handle, the control system comprising:
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a plurality of sensor housings each operatively connected to the handle; a plurality of sensors each enclosed within a respective one of the plurality of sensor housings, 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 host machine having an algorithm adapted, when executed by the host machine, to 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 at least partially modify an interruption of a transmission of the light beam when the actual input force is applied by the operator to the handle, and wherein the host machine is adapted to execute the algorithm to automatically control an action of the robot using the calculated input force. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method of controlling a robot adapted for moving a payload in response to a calculated input force that is determined using an actual input force applied by a human operator to a handle of a handle assembly, the method comprising:
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emitting a light beam from a light emitter of a sensor toward a light receiver of the sensor; flexing a flexible portion of a sensor housing containing the sensor using the actual input force to the handle to thereby modify an interruption of a transmission of the light beam in the sensor; measuring a portion of the light beam received by the light receiver; using a host machine to determine the calculated input force as a function of the portion of the light beam received by the light receiver; and automatically controlling an action of the robot using the calculated input force. - View Dependent Claims (16, 17, 18)
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Specification