Method and apparatus for force sensors
First Claim
1. A force sensor measuring applied forces, comprising:
- a first member;
a second member, wherein the first member is positioned nearby to the second member;
a flexure, the flexure connecting the first member to the second member, wherein the flexure supports the first member with respect to the second member and allows the first member to move relative to the second member substantially along two axes; and
a readout mechanism measuring the displacement of the first member relative to the second member substantially along each of the two axes, wherein the applied forces are determined from the displacement of the first member relative to the second member.
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Accused Products
Abstract
The present invention relates to the design and use of multi-axis force sensors for applications such as human-robot interaction. A compliant and easily constructed flexure element for use in controlling the range of motion of a force sensor in response to applied forces and torques is presented. Two- and three-axis embodiments of the flexure element are disclosed. Devices and methods for reading out the deflection of the flexure element to determine an applied force along a single axis are presented as well. The read-out mechanism can employ optoelectronic measurement devices and methods. The optoelectronic sensor can be implemented with the two- or three-axis embodiment of the flexure element. Additionally, a force sensor based on an inductive read-out technique is presented. The described inductive sensor uses the two-axis flexure element.
18 Citations
20 Claims
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1. A force sensor measuring applied forces, comprising:
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a first member;
a second member, wherein the first member is positioned nearby to the second member;
a flexure, the flexure connecting the first member to the second member, wherein the flexure supports the first member with respect to the second member and allows the first member to move relative to the second member substantially along two axes; and
a readout mechanism measuring the displacement of the first member relative to the second member substantially along each of the two axes, wherein the applied forces are determined from the displacement of the first member relative to the second member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A flexure capable of complying with applied forces, comprising:
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a first strip of material, and a second strip of material, wherein the first strip of material is adapted to connect to the second strip of material to form the flexure element, and the flexure element is connected to a first member and a second member to allow a relative displacement between the first member and the second member and the first and second strips of material having a width that is at least twice its thickness. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A force sensor measuring applied forces, comprising:
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a first member comprising a handle having a longitudinal axis disposed in a predetermined first position, the handle being movable substantially along two axes so as to displace said handle such that the longitudinal axis is spaced from and substantially parallel to the first position;
a second member, wherein the first member is positioned nearby to the second member;
a flexure disposed between the first member and the second member, and a readout mechanism operatively connected with the flexure and configured to measure the displacement of the first member relative to the second member substantially along each of the two axes, wherein the applied forces are determined from the displacement of the first member relative to the second member.
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Specification