Soft force sensor
AssigneeMelexis Technologies SA
InventorsTheo Le Signor, Gael Close, Nicolas Dupre
Life of this patent
Estimating the term…
Abstract
A soft sensor arrangement for measuring a force includes a sensor, a deformable element deformable by the force, and an element for reacting with the sensor for measuring the force by a deformation of the deformable element. The deformable element extends at least partially between the sensor and the element.
Claims16
A soft sensor arrangement for measuring a force, the soft sensor arrangement comprising:
- a sensor;
- a deformable element, wherein the deformable element is deformable by the force;
- and
- an element for reacting with the sensor for measuring the force by a deformation of the deformable element, wherein the deformable element extends at least partially between the sensor and the element.
A method for measuring a force using a soft sensor arrangement, the method comprising:
- receiving a signal from a sensor reacting with an element, when a deformable element extending at least partially between the sensor and the element is deformed by the force;
- and
- estimating the strength of the force from the received signal based on a predefined correlation between values of the force and values of the signal of the sensor.
A method for operating a gripper for gripping an object, the gripper comprising at least two robotic fingers, wherein at least one robotic finger comprises a soft sensor arrangement, the method comprising:
- elongating a distance between the at least two robotic fingers of the gripper until the distance between the at least two robotic fingers can accommodate the object to be gripped;
- gripping the object by reducing the distance between the at least two robotic fingers, thereby applying a force to the object, whereby a deformable element of the soft sensor arrangement is deformed;
- measuring the force applied to the object by the two robotic fingers by a reaction of the sensor to an element, wherein the deformable element extends at least partially between the sensor and the element;
- and
- controlling the movement of the at least two robotic fingers based on the measurement of the force.
Dependencies are inferred from the claim text.