# US 11,993,498 B2 · Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly

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- Number: US 11,993,498 B2
- Document ID: US11993498B2
- Status: Granted
- Kind: B2
- Application number: 17/828,987
- Filed: 2022-05-31
- Published: 2023-05-04
- Granted: 2024-05-28
- Earliest claimed: 2021-10-28
- Assignees: Toyota Research Institute, Inc.; Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Research Institute, Inc.
- Inventors: Alexander Alspach; Andrew M. Beaulieu; Aimee S. Goncalves
- Web page: https://patentgrep.com/patent/US11993498B2

## CPC

- G01L 5/228: {using tactile array force sensors}
- B25J 5/007: {mounted on wheels}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/06: characterised by multi-articulated arms
- B25J 9/144: {Linear actuators}
- B25J 9/1612: {characterised by the hand, wrist, grip control}
- B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators}
- B25J 13/084: {Tactile sensors (in general G01L5/16, G01L5/22)}
- B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)}
- B25J 15/0033: {with gripping surfaces having special shapes}
- B25J 19/007: {Means or methods for designing or fabricating manipulators}
- B25J 19/0075: {Means for protecting the manipulator from its environment or vice versa}
- B66F 9/0759: {Details of operating station, e.g. seats, levers, operator platforms, cabin suspension}
- B66F 9/18: Load gripping or retaining means
- G01L 1/04: by measuring elastic deformation of gauges, e.g. of springs
- G01L 1/046: {of spiral springs}
- G01L 1/127: {by using inductive means (G01L1/122, G01L1/125 take precedence)}
- G01L 1/22: using resistance strain gauges
- G01L 5/0028: {Force sensors associated with force applying means (G01L5/0052, G01L5/0057, G01L5/0061 take precedence)}
- 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)}
- G01L 7/082: {construction or mounting of diaphragms (of semiconductive diaphragms G01L9/0042)}
- G01L 9/0055: {bonded on a diaphragm}
- G01L 9/0064: {the element and the diaphragm being in intimate contact}
- B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00)
- B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)}
- G01L 5/226: {to manipulators, e.g. the force due to gripping}
- G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00)

## Abstract

Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly are disclosed. In one embodiment, a sensor assembly includes a compliant substrate assembly having a base layer, and a deformable layer heat-sealed to the base layer such that the base layer and the deformable layer define at least one inflatable chamber. The sensor assembly further includes a first member proximate to a first edge of the compliant substrate assembly, a second member proximate to a second edge of the compliant substrate assembly, wherein the second edge is opposite the first edge, and at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber.

## Claims

### Claim 1

A sensor assembly comprising:
a compliant substrate assembly comprising:
a base layer; and
a deformable layer heat-sealed to the base layer such that the base layer and the deformable layer define at least one inflatable chamber;
a first member proximate to a first edge of the compliant substrate assembly;
a second member proximate to a second edge of the compliant substrate assembly, wherein the second edge is opposite the first edge; and
at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber,
wherein the first member and the second member are rods.

### Claim 2 (depends on 1)

The sensor assembly of claim 1, wherein the at least one inflatable chamber is operable to be filled with a gas.

### Claim 3 (depends on 2)

The sensor assembly of claim 2, further comprising a tubing that fluidly couples the at least one inflatable chamber to the at least one pressure sensor.

### Claim 4 (depends on 1)

The sensor assembly of claim 1, wherein the base layer is fabricated from a first material and the deformable layer is fabricated from a second material that is different from the first material.

### Claim 5 (depends on 1)

The sensor assembly of claim 1, wherein the at least one inflatable chamber comprises an array of inflatable chambers heat sealed to the base layer.

### Claim 6 (depends on 5)

The sensor assembly of claim 5, wherein the at least one pressure sensor comprises a plurality of pressure sensors fluidly coupled to the array of inflatable chambers.

### Claim 7

A structure for receiving a compliant substrate assembly, the structure comprising:
an outer surface;
a first set of engagement features extending from a first location of the outer surface, wherein the first set of engagement features are configured to receive a first rod of the compliant substrate assembly; and
a second set of engagement features extending from a second location of the outer surface that is offset from the first location by a distance, wherein the second set of engagement features are configured to receive a second rod of the compliant substrate assembly, wherein the first and second rods are proximate first and second edges of the compliant substrate assembly, respectively.

### Claim 8 (depends on 7)

The structure of claim 7, wherein the distance is greater than a length of the compliant substrate assembly as measured from the first rod to the second rod.

### Claim 9 (depends on 7)

The structure of claim 7, wherein the first set of engagement features comprises two or more first hooks and the second set of engagement features comprises two or more second hooks.

### Claim 10 (depends on 7)

The structure of claim 7, wherein the structure is at least a portion of a robot arm.

### Claim 11

A sensor assembly comprising:
a base structure comprising:
an outer surface;
a first set of engagement features extending from a first location of the outer surface; and
a second set of engagement features extending from a second location of the outer surface that is offset from the first location by a distance;
a compliant substrate assembly comprising:
a base layer;
a deformable layer heat-sealed to the base layer such that the base layer and the deformable layer define at least one inflatable chamber;
a first member proximate to a first edge of the compliant substrate assembly, wherein the first member is held by the first set of engagement features; and
a second member proximate to a second edge of the compliant substrate assembly, wherein the second edge is opposite the first edge and the second member is held by the second set of engagement features such that the compliant substrate assembly is stretched over at least a portion of the base structure, wherein the first member and the second member are rods; and
at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber.

### Claim 12 (depends on 11)

The sensor assembly of claim 11, wherein the at least one inflatable chamber is operable to be filled with a gas.

### Claim 13 (depends on 12)

The sensor assembly of claim 12, further comprising a tubing that fluidly couples the at least one inflatable chamber to the at least one pressure sensor.

### Claim 14 (depends on 11)

The sensor assembly of claim 11, wherein the base layer is fabricated from a first material and the deformable layer is fabricated from a second material that is different from the first material.

### Claim 15 (depends on 11)

The sensor assembly of claim 11, wherein the at least one inflatable chamber comprises an array of inflatable chamber heat sealed to the base layer.

### Claim 16 (depends on 15)

The sensor assembly of claim 15, wherein the at least one pressure sensor comprises a plurality of pressure sensors fluidly coupled to the array of inflatable chambers.

### Claim 17 (depends on 11)

The sensor assembly of claim 11, wherein the distance is greater than a length of the compliant substrate assembly as measured from the first member to the second member.

### Claim 18 (depends on 11)

The sensor assembly of claim 11, wherein the first set of engagement features comprises two or more first hooks and the second set of engagement features comprises two or more second hooks.