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Sensor tip for a robotic gripper and method of manufacture

  • US 5,010,773 A
  • Filed: 01/24/1990
  • Issued: 04/30/1991
  • Est. Priority Date: 01/24/1990
  • Status: Expired due to Fees
First Claim
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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 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;

    (b) a transducer which produces an electrical signal indicative of strain therein and which is located in the elastomeric body near the outer boundary of the body to yield information on a force or torque component acting upon the sensor tip by the object being manipulated; and

    (c) buffer amplifier means for receiving the electrical signal produced by the transducer and providing an output signal, the means including an operational amplifier having an input and an output, the transducer being connected in a feedback loop between the output and the input of the amplifier to produce an output voltage from the amplifier which is indicative of strain in the transducer.

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