Multiple-degree-of-freedom sensor tip for a robotic gripper
First Claim
1. A sensor tip for use in a robotic hand which is capable of manipulating an object, the sensor tip providing feedback information to the robot on forces acting upon the sensor tip by the object, the sensor tip comprising:
- (a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being formed of a relatively compliant material as compared to the object to be manipulated; and
(b) means for measuring strain in the elastomeric body at at least two positions near the outer boundary of the body to yield information on a plurality of independent force or torque components acting upon the sensor tip by the object being manipulated.
1 Assignment
0 Petitions
Accused Products
Abstract
A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A signal amplifier (34) and computer (36) may be incorporated for the decoupling of the signals produced by the transducers (14, 16, 18, and 20) into the four components. The sensor tip can be produced at relatively low cost, requiring only low precision manufacturing processes.
35 Citations
39 Claims
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1. A sensor tip for use in a robotic hand which is capable of manipulating an object, the sensor tip providing feedback information to the robot on forces acting upon the sensor tip by the object, the sensor tip comprising:
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(a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being formed of a relatively compliant material as compared to the object to be manipulated; and (b) means for measuring strain in the elastomeric body at at least two positions near the outer boundary of the body to yield information on a plurality of independent force or torque components acting upon the sensor tip by the object being manipulated. - View Dependent Claims (2, 3, 4)
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5. A sensor tip for use in a robotic hand which is capable of manipulating an object, the sensor tip providing feedback information to the robot on forces acting upon the sensor tip by the object, the sensor tip comprising:
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(a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being relatively complaint as compared to the object to be manipulated, wherein the material of the elastomeric body is silicone rubber; and (b) means for measuring strain in the elastomeric body at at least two positions near the outer boundary of the body to yield information on a plurality of independent force or torque components acting upon the sensor tip by the object being manipulated. - View Dependent Claims (6)
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7. A sensor tip for use in a robotic hand which is capable of manipulating an object, the sensor tip providing feedback information to the robot on forces acting upon the sensor tip by the object, the sensor tip comprising:
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(a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being a relatively complaint as compared to the object to be manipulated, wherein the outer boundary of the body has a base and a convex surface extending from the base, the convex surface having a distal point of maximal distance from the base; and (b) means for measuring strain in the elastomeric body at at least one position near the outer boundary of the body to yield information on force or torque components acting upon the sensor tip by the object being manipulated wherein the means for measuring strain comprises transducers which produce an electrical signal indicative of strain. - View Dependent Claims (8)
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9. A sensor tip for use in a robotic hand which is capable of manipulated an object, the sensor tip providing feedback information to the robot on forces acting upon the sensor tip by the object, the sensor tip comprising:
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(a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being formed of a relatively complaint material as compared to the object to be manipulated; and (b) means for measuring in the elastomeric body at a plurality of positions separated near the outer boundary of the body to yield information on a plurality of independent force of torque components acting upon the sensor tip by the object being manipulated. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A sensor tip system for use in a robotic hand which is capable of manipulating an object, the sensor tip system providing feedback information to the robot on forces acting upon the sensor tip by the object, the system comprising:
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(a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being formed of a relatively complaint material as compared to the object to be manipulated; (b) at least three transducers attached to the body at separated positions near the outer boundary of the body, each of the transducers producing an electrical signal indicative of strain on the body resulting from manipulation of the object to yield information on a plurality of independent force or torque components acting upon the sensor tip by the object being manipulated; and (c) means for decoupling the electrical signals produced by the transducers to resolve independent components of force or torque acting upon the body. - View Dependent Claims (34, 35)
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36. A robotic hand capable of manipulating an object, the robotic hand comprising:
- three fingers each having sensor tips, each of the sensor tips being able to direct multiple force components and each of the sensor tips being positionable by the robot so as to contact the object at three separate points, wherein each of the sensor tips comprises;
(a) an elastomeric body having a three-dimensional outer boundary that contacts the object being manipulated, the body being formed of a relatively complaint material as compared to the object to be manipulated; and (b) means for measuring strain in the elastomeric body at at least three separated positions near the outer boundary of the body to yield information on a plurality of independent force or torque components acting upon the sensor tip by the object being manipulated. - View Dependent Claims (37, 38, 39)
- three fingers each having sensor tips, each of the sensor tips being able to direct multiple force components and each of the sensor tips being positionable by the robot so as to contact the object at three separate points, wherein each of the sensor tips comprises;
Specification