Touch sensitive robotic gripper
First Claim
1. A displacement measuring cell comprising:
- a conductive fluid;
a stationary electrode electrically coupled to the conductive fluid;
a movable electrode electrically and physically coupled to the conductive fluid and configured to move relative to the stationary electrode;
an alternating current (AC) voltage source coupled to the moveable and stationary electrodes to generate a voltage across the cell; and
an electrical property measuring device coupled to the movable and stationary electrodes and configured to measure an electrical property dependent on movement of the movable electrode relative to the stationary electrode.
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Accused Products
Abstract
A displacement measuring cell may be used to measure linear and/or angular displacement. The displacement measuring cell may include movable and stationary electrodes in a conductive fluid. Electrical property measurements may be used to determine how far the movable electrode has moved relative to the stationary electrode. The displacement measuring cell may include pistons and/or flexible walls. The displacement measuring cell may be used in a touch-sensitive robotic gripper. The touch-sensitive robotic gripper may include a plurality of displacement measuring cells mechanically in series and/or parallel. The touch-sensitive robotic gripper may be include a processor and/or memory configured to identify objects based on displacement measurements and/or other measurements. The processor may determine how to manipulate the object based on its identity.
123 Citations
67 Claims
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1. A displacement measuring cell comprising:
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a conductive fluid; a stationary electrode electrically coupled to the conductive fluid; a movable electrode electrically and physically coupled to the conductive fluid and configured to move relative to the stationary electrode; an alternating current (AC) voltage source coupled to the moveable and stationary electrodes to generate a voltage across the cell; and an electrical property measuring device coupled to the movable and stationary electrodes and configured to measure an electrical property dependent on movement of the movable electrode relative to the stationary electrode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A touch-sensitive robotic gripping system comprising:
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a first gripping member comprising a first plurality of displacement measuring cells, each displacement measuring cell comprising; a conductive fluid, a stationary electrode electrically coupled to the conductive fluid, and a movable electrode electrically coupled to the conductive fluid and configured to move relative to the stationary electrode; an alternating current (AC) voltage source coupled to the moveable and stationary electrodes of each displacement measuring cell to generate a voltage across the cell; and a first electrical property measuring device coupled to the stationary electrode and the movable electrode of each displacement measuring cell and configured to measure a first electrical property of a selected displacement measuring cell, wherein the first electrical property depends on movement of the movable electrode relative to the stationary electrode. - View Dependent Claims (43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67)
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Specification