Multicomponent force-torque sensor
First Claim
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1. A multicomponent force-torque sensor comprising:
- (a) a loadable means to which at least two force-torque components can be applied;
(b) a plurality of signal-transmission means for transmitting signals;
(c) a plurality of signal-reflection means for reflecting said transmitted signals;
(d) a plurality of signal-detection means for detecting said reflected signals;
(e) at least one medium through which said signals can travel;
(f) a deformable means which is deformable in response to the application of force-torque components to said loadable means; and
(g) a means for utilizing said detected signals to determine a plurality of force-torque components;
wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of a force-torque component to said loadable means results in the alteration of the distance traveled from signal-transmission means to signal-detection means by each of at least two of said signals.
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Abstract
An apparatus and process for detecting and quantifying force-torque components applied to a loadable means. The apparatus includes a plurality of signal-transmission means, a plurality of signal-reflection means, a plurality of signal-detection means and a deformable means which is deformable in response to the application of force-torque components to the loadable means. Application of a force-torque component to the loadable means results in the alteration of the distance traveled by a signal from signal-transmission means to signal detection means. The apparatus further includes a means for utilizing the detected signals to determine force-torque components.
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Citations
28 Claims
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1. A multicomponent force-torque sensor comprising:
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(a) a loadable means to which at least two force-torque components can be applied; (b) a plurality of signal-transmission means for transmitting signals; (c) a plurality of signal-reflection means for reflecting said transmitted signals; (d) a plurality of signal-detection means for detecting said reflected signals; (e) at least one medium through which said signals can travel; (f) a deformable means which is deformable in response to the application of force-torque components to said loadable means; and (g) a means for utilizing said detected signals to determine a plurality of force-torque components; wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of a force-torque component to said loadable means results in the alteration of the distance traveled from signal-transmission means to signal-detection means by each of at least two of said signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A multicomponent force-torque sensor comprising:
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(a) a cover plate; (b) a substrate; (c) a plurality of ultrasonic transducers capable of transmitting and detecting ultrasonic signals; (d) a pluraltiy of reflectors capable of reflecting said ultrasonic signals and positioned to reflect said ultrasonic signals back to said transducers; (e) a deformable means which is deformable in response to the application of force-torque components to said cover plate; (f) at least one medium through which ultrasonic signals transmitted from said ultrasonic transducer can travel; and (g) an electronic circuitry means for determining the transit time of said ultrasonic signals and for using said signal transit times to determine a plurality of force-torque components; wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of a force-torque component to said cover plate results in the alteration of the transit time of at least one of said signals; and
wherein said substrate provides support to said ultrasonic transducers and provides a reference position from which differences in signal transit time can be determined. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A process for determining a plurality of force-torque components comprising:
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(a) subjecting a loadable means to a plurality of force-torque components; (b) transmitting signals from a signal-transmission means; (c) reflecting said transmitted signals with a signal-reflection means; (d) detecting said reflected signals with a signal-detection means; and (e) determining the transit times of said signals to determine a plurality of force-torque components; wherein the signal transit times are altered in response to the force-torque components to which said loadable means is subjected. - View Dependent Claims (19, 20)
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21. A force-torque sensor comprising:
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(a) a loadable means having a contact surface to which at least one force-torque component selected from Fx, Fy, Mx, My and Mz can be applied; (b) a plurality of signal-transmission means for transmitting signals; (c) a plurality of signal-reflection means for reflecting said transmitted signals; (d) a plurality of signal-detection means for detecting said reflected signals; (e) at least one medium through which said signals can travel; (f) a deformable means which is deformable in response to the application of said force-torque component to said loadable means; and (g) a means for utilizing said detected signals to determine said force-torque component; wherein (a), (b), (c), (d), (e) and (f) are adapted and arranged such that the application of said force-torque component to said loadable means results in the alteration of the distance traveled from signal-transmission means to signal-detection means by each of at least two of said signals;
wherein said loadable means is oriented with respect to Fx, Fy, Mx, My, and Mz in a frame of reference such that the Z-axis of said frame of reference is normal to said contact surface of said loadable means. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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Specification