# US 12,600,031 B2 · Tactile robotic training platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,031 B2 - Document ID: US12600031B2 - Status: Granted - Kind: B2 - Application number: 18/435,800 - Filed: 2024-02-07 - Published: 2025-04-24 - Granted: 2026-04-14 - Earliest claimed: 2023-10-20 - Assignees: Tacta Systems Inc. - Applicants: Tacta Systems Inc. - Inventors: Dariusz Golda; Nahid Harjee; Vikram Pavate; David Weisberg; Andreas Bibl - Web page: https://patentgrep.com/patent/US12600031B2 ## CPC - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/0081: {with leader teach-in means} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 13/06: Control stands, e.g. consoles, switchboards - 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 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - 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}) ## Abstract A wearable device may include an article configured to be worn by a user and a sensor array coupled with the article. The sensor array may be configured to obtain force data, among other data. A system can receive information generated by the wearable device utilized to perform a task. The information may include motion data indicating a motion of the wearable device and the force data indicating a force applied to the wearable device. The force data may be obtained from the sensor array generating digital outputs. The system can control a robotic device to perform a robotic motion based on the motion data and apply a robotic force based on the force data to repeat the task. The robotic device may include a sensor array to determine a force applied to the robotic device for controlling the robotic force. Other aspects are also described and claimed. ## Claims ### Claim 1 A wearable device, comprising: an article configured to be worn by a user; and a sensor array coupled with the article, the sensor array including a plurality of sections, each section arranged in a different region of the article, each section including a plurality of sensors that provide multimodal sensing, each sensor of the plurality of sensors including analog to digital conversion (ADC) circuitry to perform analog to digital conversion to generate a digital output indicating sensed data to be sent to a controller, wherein the sensor array obtains force data and generates digital outputs to indicate a force applied to the wearable device. ### Claim 2 (depends on 1) The wearable device of claim 1, wherein sensors of the sensor array are submillimeter in at least one in-plane dimension associated with a footprint. ### Claim 3 (depends on 1) The wearable device of claim 1, wherein sensors of the sensor array have a pitch that is less than 3 millimeters. ### Claim 4 (depends on 1) The wearable device of claim 1, wherein sensors of the sensor array are micro-sensors. ### Claim 5 (depends on 1) The wearable device of claim 1, wherein a first sensor of the sensor array senses a first condition, and a second sensor of the sensor array senses a second condition that is different from the first condition. ### Claim 6 (depends on 5) The wearable device of claim 5, wherein the first sensor senses a normal force, and the second sensor senses a shear force. ### Claim 7 (depends on 1) The wearable device of claim 1, wherein at least one sensor of the sensor array senses a pressure range from 1.5 mg/mm2 to 100 g/mm2. ### Claim 8 (depends on 1) The wearable device of claim 1, wherein a first section of the plurality of sections is coupled with a first region of the article with sensors of the first section having a closer spacing, and wherein a second section of the plurality of sections is coupled with a second region of the article with sensors of the second section having a further spacing. ### Claim 9 (depends on 1) The wearable device of claim 1, further comprising: an inertial sensor integrated into the wearable device, wherein the inertial sensor is configured to obtain at least one of a position, an orientation, a velocity, or an acceleration of the wearable device. ### Claim 10 (depends on 1) The wearable device of claim 1, further comprising: a flexible substrate coupled with a surface of the article, wherein the sensor array is coupled with the flexible substrate. ### Claim 11 (depends on 1) The wearable device of claim 1, wherein the sensor array is connected to conductive threads of the article. ### Claim 12 (depends on 1) The wearable device of claim 1, wherein the article is comprised of a fabric or an elastomer. ### Claim 13 A sensing glove, comprising: a glove configured to be worn by a user; and a sensor array coupled with an outer surface of the glove, the sensor array including a section coupled to a fingertip of the glove, the section including a plurality of sensors that provide multimodal sensing, each sensor of the plurality of sensors including analog to digital conversion (ADC) circuitry to perform analog to digital conversion to generate a digital output indicating sensed data to be sent to a controller, wherein the sensor array obtains force data and generates digital outputs to indicate a force applied to the glove. ### Claim 14 (depends on 13) The sensing glove of claim 13, wherein sensors of the sensor array are submillimeter in at least one in-plane dimension associated with a footprint. ### Claim 15 (depends on 13) The sensing glove of claim 13, wherein sensors of the sensor array have a pitch that is less than 3 millimeters. ### Claim 16 (depends on 13) The sensing glove of claim 13, wherein the outer surface includes at least 1,000 sensors. ### Claim 17 (depends on 13) The sensing glove of claim 13, wherein a first sensor of the sensor array senses a first condition, and a second sensor of the sensor array senses a second condition that is different from the first condition. ### Claim 18 (depends on 13) The sensing glove of claim 13, wherein sensors of the sensor array comprise piezoelectric sensors. ### Claim 19 (depends on 13) The sensing glove of claim 13, wherein the sensor array utilizes piezoelectric sensors for proximity sensing. ### Claim 20 (depends on 13) The sensing glove of claim 13, wherein sensors of the sensor array comprise piezoresistive sensors. ### Claim 21 (depends on 13) The sensing glove of claim 13, wherein sensors of the sensor array comprise capacitive sensors. ### Claim 22 (depends on 13) The sensing glove of claim 13, wherein sensors of the sensor array comprise metal foil strain sensors. ### Claim 23 (depends on 13) The sensing glove of claim 13, further comprising: a flexible substrate coupled with the outer surface of the glove, the flexible substrate having a cutout, wherein the sensor array is coupled with the flexible substrate, and the cutout enables the glove to flex.