# US 11,896,413 B2 · Sensor system for an actuator, actuator and method for moving an actuator part > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,896,413 B2 - Document ID: US11896413B2 - Status: Granted - Kind: B2 - Application number: 17/189,540 - Filed: 2021-03-02 - Published: 2021-09-09 - Granted: 2024-02-13 - Earliest claimed: 2020-03-04 - Assignees: Ewellix AB - Applicants: Ewellix AB - Inventors: Conor Slater - Web page: https://patentgrep.com/patent/US11896413B2 ## CPC - A61B 6/4429: {related to the mounting of source units and detector units} - A61B 6/4482: {involving power assist circuits} - A61B 6/4476: {related to motor-assisted motion of the source unit} - F16M 11/18: with mechanism for moving the apparatus relatively to the stand - F16M 11/28: Undercarriages for supports with one single telescoping pillar - G01L 5/0061: {Force sensors associated with industrial machines or actuators (for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21)} - G05D 3/12: using feedback - F16M 11/42: with arrangement for propelling the support {stands on wheels} - G05B 2219/25428: Field device - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract In a sensor system for an actuator, in particular a lifting column, a force sensor is configured to detect a total force acting on an actuator part. An acceleration sensor is configured to detect an acceleration of the actuator part. Accordingly, the sensor system has a processing device, which is configured to control a drive of the actuator for moving the actuator part on a basis of the detected total force and the detected acceleration. ## Claims ### Claim 1 A sensor system for an actuator, the sensor system comprising: a force sensor configured to detect a total force acting on an actuator part mounted movably relative to an actuator base; an acceleration sensor configured to detect an acceleration of the actuator part; and a processor configured to control a drive of the actuator for moving the actuator part on a basis of the total force detected and the acceleration detected, said processor further configured to use the total force and the acceleration to determine a measure of a force exerted on the actuator part by a user for moving the actuator part and to control the drive on a basis of the measure of the force. ### Claim 2 (depends on 1) The sensor system according to claim 1, wherein said processor is configured to further control the drive on a basis of a stored calibration value. ### Claim 3 (depends on 2) The sensor system according to claim 2, wherein the stored calibration value corresponds to a total force acting on the actuator part when the actuator part is at rest. ### Claim 4 (depends on 3) The sensor system according to claim 3, wherein said force sensor is configured to detect the total force acting on the actuator part, when the actuator part is at rest, in a calibration mode. ### Claim 5 (depends on 1) The sensor system according to claim 1, wherein said processor is configured to normalize the total force, detected by said force sensor, with a total force acting on the actuator part when the actuator part is at rest. ### Claim 6 (depends on 1) The sensor system according to claim 1, wherein said processor is configured to further control the drive on a basis of a quotient from a force exerted on the actuator part by a user for movement and a total force acting when the actuator part is at rest. ### Claim 7 (depends on 1) The sensor system according to claim 1, wherein said force sensor is a weighing cell. ### Claim 8 (depends on 1) The sensor system according to claim 1, wherein said force sensor is configured to detect the total force by detection of cable tension of a cable by which the actuator part is carried. ### Claim 9 (depends on 1) The sensor system according to claim 1, wherein said force sensor is configured to detect the total force by detection of a weight which loads a spindle carrying the actuator part. ### Claim 10 An actuator, comprising: an actuator base; an actuator part mounted movably relative to said actuator base; a drive for moving said actuator part; and a sensor system, containing: a force sensor configured to detect a total force acting on said actuator part; an acceleration sensor configured to detect an acceleration of said actuator part; and a processor configured to control said drive for moving said actuator part on a basis of the total force detected and the acceleration detected, said processor configured to use the total force and the acceleration to determine a measure of a force exerted on said actuator part by a user for moving said actuator part and to control said drive on a basis of the measure of the force. ### Claim 11 (depends on 10) The actuator according to claim 10, wherein said acceleration sensor and said processor are disposed on and/or in said actuator part. ### Claim 12 (depends on 10) The actuator according to claim 10, wherein said actuator part has a recess formed therein, said force sensor is disposed in said recess of said actuator part. ### Claim 13 (depends on 10) The actuator according to claim 10, wherein the actuator is a lifting column. ### Claim 14 (depends on 10) A mobile X-ray system, comprising: a movable substructure; an actuator according to claim 10 mounted on said movable substructure; and an X-ray head mounted on said actuator part mounted movably relative to said actuator base. ### Claim 15 A method for moving an actuator part of an actuator being mounted movably relative to an actuator base, which comprises the steps of: detecting a total force acting on the actuator part; detecting an acceleration of the actuator part; and controlling, via a processor, a drive of the actuator for moving the actuator part on a basis of the total force detected and the acceleration detected, wherein the processor is configured to use the total force and the acceleration to determine a measure of a force exerted on the actuator part by a user for moving the actuator part and to control the drive on a basis of the measure of the force.