US 2020/0406472 A1Published application

Device and method for measuring force

AssigneesSorbonne Universite, Centre National De La Recherche Scientifique

InventorsSinan HALIYO, Antoine WEILL-DUFLOS, Vincent HAYWARD, Stéphane REGNIER, Olga PETIT

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Abstract

The present invention concerns a device (101, 102, 103, 104) for measuring force, comprising: a movable member (1); guide means (2) for guiding the movable member along at least one degree of freedom; position measuring means (3) for measuring the position of the movable member; at least one actuator (4) for applying an actuator force (7) to the movable member; a control system (5), arranged to send a control signal to the at least one actuator, the actuator force depending on the control signal, the control system being arranged to modify the control signal according to a measurement of the position of the movable member by the position measuring means; force measuring means (6) arranged to provide, from the control signal sent by the control system to the at least one actuator, a value of a force to be measured (8) being applied to the movable member and separate from the actuator force. The means for guiding the movable member exert no return force on the movable member along the at least one degree of freedom.

Claims16

Dependent claims

Device (101, 102, 103, 104) for measuring force, comprising:

a movable member (1),
means (2) for guiding the movable member within at least one degree of freedom,
position measuring means (3) arranged for measuring a position of the movable member within the at least one degree of freedom,
at least one actuator (4), different from the guiding means, and arranged for exerting an actuating force (7) on the movable member within the at least one degree of freedom,
a control system (5), arranged and/or programmed for sending a control signal to the at least one actuator, the actuating force depending on the control signal, the control system being arranged for modifying the control signal as a function of a measurement of position of the movable member by the position measuring means,
force measuring means (6) arranged and/or programmed for supplying, based on the control signal sent by the control system to the at least one actuator, a value of a force to be measured (8) acting on the movable member and separate from the actuating force,
characterized in that the means for guiding the movable member within the at least one degree of freedom do not exert a restoring force on the movable member within the at least one degree of freedom.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/960,718Filed 10 Jan 2019
Priority: FR 185023111 Jan 2018
Published: 31 Dec 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

B25J 13/085
By means of sensing devices, e.g. viewing or touching devices: force or torque sensors
B25J 9/023
Characterised by movement of the arms, e.g. cartesian coordinate type: cartesian coordinate type
B25J 13/088
By means of sensing devices, e.g. viewing or touching devices: with position, velocity or acceleration sensors
G01L 1/086
By the use of counterbalancing forces: using electrostatic or electromagnetic counterbalancing forces