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US 10,883,891 B2Granted
Unibody flexure design for displacement-based force/torque sensing
AssigneeX Development LLC
InventorsAdam Reich, Stephen Dorow
Life of this patent
Estimating the term…
Abstract
An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.
Claims20
A device, comprising:
- an inner element comprising a plurality of reflective surface areas, wherein the plurality of reflective surface areas are configured to reflect light to a sensor;
- and
- a plurality of flexural elements coupled to the inner element, wherein each of the plurality of flexural elements comprises a connection point at a distal end of the flexural element, wherein the plurality of flexural elements allow the inner element to move relative to each connection point of each of the plurality of flexural elements, and wherein the plurality of flexural elements are configured to resist movement between the inner element and each connection point of each of the plurality of flexural elements.
A device, comprising:
- an inner element comprising a plurality of reflective surface areas, wherein the plurality of reflective surface areas are configured to reflect light to a sensor;
- a plurality of outer elements that each comprise a connection point;
- and
- a plurality of flexural elements coupled between each of the plurality of outer elements and the inner element, wherein the plurality of flexural elements allow the inner element to move relative to each of the plurality of outer elements.
1 more element
A robotic system comprising:
- an inner element comprising a plurality of reflective surface areas, wherein the plurality of reflective surface areas are configured to reflect light to a sensor;
- and
- a plurality of flexural elements coupled to the inner element, wherein each of the plurality of flexural elements comprises a connection point at a distal end of the flexural element, wherein the plurality of flexural elements allow the inner element to move relative to each connection point of each of the plurality of flexural elements;
- and
- a control system configured to:
- receive reflected light data from the sensor;
- based on the reflected light data, determine a deflection of the inner element when a load is applied on the robotic system;
- and
- based on the deflection determined, determine one or more output parameters of the applied load on the robotic system.
6 more elements
Dependencies are inferred from the claim text.