Sensors having a deformable layer and a rugged cover layer and robots incorporating the same
AssigneesToyota Research Institute, Inc., Toyota Jidosha Kabushiki Kaisha
InventorsAlexander Alspach, Andrew M. Beaulieu, Aimee S. Goncalves
Life of this patent
Estimating the term…
Abstract
Sensors having a deformable layer and an outer cover layer and robots incorporating the same are disclosed. In one embodiment, a sensor includes an inflatable diaphragm operable to be disposed on a member, wherein the inflatable diaphragm includes a port. The sensor further includes an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.
Claims20
A sensor comprising:
- an inflatable diaphragm operable to surround a rigid segment of a robot arm, the inflatable diaphragm comprising a port;
- an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex;
- and
- a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.
A robot component comprising:
- a robot arm comprising a rigid segment;
- and
- one or more deformable sensors comprising:
- an inflatable diaphragm surrounding the rigid segment, the inflatable diaphragm comprising a port;
- an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex;
- and
- a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.
A robot comprising:
- a rail system;
- a body structure coupled to the rail system;
- a first arm coupled to a first side of the body structure;
- one or more first arm actuators providing the first arm with multiple degrees of freedom;
- a second arm coupled to a second side of the body structure;
- one or more second arm actuators providing the second arm with multiple degrees of freedom;
- one or more deformable sensors surrounding one or more of the first arm and the second arm, the one or more deformable sensors comprising:
- an inflatable diaphragm comprising a port;
- an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex;
- and
- a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm;
- and
- a lift actuator operable to move the body structure along the rail system,
- wherein:
- the one or more first arm actuators and the one or more second arm actuators are operable to wrap the first arm and the second arm around an object and hold the object against the body structure, and
- the lift actuator is operable to move the body structure such that the object is lifted on the rail system.
Dependencies are inferred from the claim text.