US 2026/0168872 A1 · REACTION-TYPE TORQUE CELLS

Abstract

Various embodiments of a torque cell including a flexure element and sensor assembly are disclosed. A flexure element includes an inner ring, an outer ring, and a plurality of beams arranged symmetrically and extending radially connecting the inner ring to the outer ring. Each beam has a first surface, a second surface, and a recessed portion. The recessed portion having a recessed surface recessed from the first surface of the beam with an extent of the recessed surface of the recessed portion having a planar gauge portion that is substantially parallel with a plane perpendicular to a central axis of the flexure element. Each planar gauge portion of the plurality of beams are in the same plane. The sensor assembly including a plurality of strain gauges affixed to the beams within the planar gauge portion and a measurement circuit coupled to the plurality of strain gauges.

Claims25

Dependent claims

A reaction-type torque cell installable in a humanoid robot, comprising:

a flexure element having an inner ring, an outer ring, and a plurality of beams arranged symmetrically and extending radially outward to connect the inner ring to the outer ring, wherein each beam has a first surface, a second surface, and a sunken portion with a recessed surface that is depressed from the first surface of the beam, and wherein an extent of said recessed surface has a planar gauge surface portion residing in a gauge plane that is substantially parallel with a reference plane oriented perpendicular to a central axis of the flexure element, and
a sensor assembly comprising a plurality of strain gauges and a measurement circuit coupled to individual resistance gauge elements of the strain gauges, wherein each strain gauge has a first resistance gauge element and a second resistance gauge element, and wherein a strain gauge is affixed to the planar gauge portion of the recessed surface of each beam such that the first resistance gauge element and the second resistance gauge element of the strain gauge are arranged symmetrically about a center midline of said beam.

A flexure and sensor assembly of a torque cell installable in a humanoid robot, comprising:

a flexure element with a plurality of beams, wherein each beam includes a planar gauge surface portion within a recessed surface of each beam of the flexure element;
a sensor assembly including (i) a plurality of strain gauges with a first resistance gauge element and a second resistance gauge element, and (ii) a measurement circuit coupled to the first and second resistance gauge elements,
wherein the first resistance gauge element and the second resistance gauge element are affixed symmetrically about a midline of one beam of a plurality of beams of the flexure element.

Dependencies are inferred from the claim text.

Reaction-type torque cells

Life of this patent

Reaction-type torque cells

Life of this patent

Abstract

Claims25