Flexure based torque sensor
First Claim
1. A device comprising:
- an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads;
a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub;
a first sensor positioned adjacent to the first rotatable head of the flexure hub;
a second sensor positioned adjacent to the second rotatable head of the flexure hub; and
a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub.
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Accused Products
Abstract
An example device may include an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head. Each of the heads comprise an annular sector of the flexure hub, and the first and second stationary heads are interleaved between the first and second rotatable heads. The device may also include a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub. The device may also include a first sensor positioned adjacent to the first rotatable head of the flexure hub, and a second sensor positioned adjacent to the second rotatable head of the flexure hub. The device may also include a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub.
12 Citations
20 Claims
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1. A device comprising:
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an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads; a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub; a first sensor positioned adjacent to the first rotatable head of the flexure hub; a second sensor positioned adjacent to the second rotatable head of the flexure hub; and a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A robotic joint comprising:
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a first limb; a second limb; and a torque sensor, wherein the torque sensor includes; an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads; a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub, wherein the stationary housing is further coupled to the first limb; a first sensor positioned adjacent to the first rotatable head of the flexure hub; a second sensor positioned adjacent to the second rotatable head of the flexure hub; and a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub, wherein the rotatable housing is further coupled to the second limb. - View Dependent Claims (15, 16)
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17. A robotic device comprising:
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a body; one or more joints coupled to the body, wherein at least one of the one or more joints includes; a first limb; a second limb; a torque sensor, wherein the torque sensor includes (i) an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads, (ii) a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub, wherein the stationary housing is further coupled to the first limb, (iii) a first sensor positioned adjacent to the first rotatable head of the flexure hub, (iv) a second sensor positioned adjacent to the second rotatable head of the flexure hub, and (v) a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub, wherein the rotatable housing is further coupled to the second limb; and a controller programmable to (i) combine a first reading from the first sensor and a second reading from the second sensor to determine a torque on a given joint, and (ii) control a rotational input to the rotatable housing of the given joint based on the determined torque. - View Dependent Claims (18, 19, 20)
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Specification