# US 9,751,220 B2 · Flexure based torque sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,220 B2 - Document ID: US9751220B2 - Status: Granted - Kind: B2 - Application number: 14/674,406 - Filed: 2015-03-31 - Published: 2016-10-06 - Granted: 2017-09-05 - Earliest claimed: 2015-03-31 - Assignees: Google Inc. - Applicants: Google Inc. - Inventors: Michael Patrick Murphy; Donald Campbell - Web page: https://patentgrep.com/patent/US9751220B2 ## CPC - B25J 19/02: Sensing devices - B25J 9/0015: {Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 17/00: Joints - G01L 1/122: {by using permanent magnets} - G01L 3/04: wherein the torque-transmitting element comprises a torsionally-flexible shaft - G01L 3/1428: {using electrical transducers} - G01L 3/1435: {involving magnetic or electromagnetic means} - Y10S 901/28: Joint - Y10S 901/46: Sensing device - 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}) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract An example device may include an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head. Each of the heads comprise an annular sector of the flexure hub, and the first and second stationary heads are interleaved between the first and second rotatable heads. The device may also include a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub. The device may also include a first sensor positioned adjacent to the first rotatable head of the flexure hub, and a second sensor positioned adjacent to the second rotatable head of the flexure hub. The device may also include a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub. ## Claims ### Claim 1 A device comprising: an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads; a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub; a first sensor positioned adjacent to the first rotatable head of the flexure hub; a second sensor positioned adjacent to the second rotatable head of the flexure hub; and a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub. ### Claim 2 (depends on 1) The device of claim 1, further comprising: a first gap between the first stationary head and the first rotatable head at an outer circumference of the flexure hub; a second gap between the first rotatable head and the second stationary head at the outer circumference of the flexure hub; a third gap between the second stationary head and the second rotatable head at the outer circumference of the flexure hub; and a fourth gap between the second rotatable head and the first stationary head at the outer circumference of the flexure hub. ### Claim 3 (depends on 2) The device of claim 2, wherein a width of each of the first gap, the second gap, the third gap, and the fourth gap define a maximum rotation between the rotatable housing and the stationary housing. ### Claim 4 (depends on 1) The device of claim 1, wherein the first sensor and the second sensor are positioned adjacent to an outer circumference of the flexure hub. ### Claim 5 (depends on 1) The device of claim 1, further comprising: a processor configured to combine a first reading from the first sensor and a second reading from the second sensor to determine a torque on the device. ### Claim 6 (depends on 5) The device of claim 5, further comprising: a control system configured to control a rotational input to the rotatable housing based on the determined torque on the device. ### Claim 7 (depends on 1) The device of claim 1, wherein each of the first stationary head, the second stationary head, the first rotatable head, and the second rotatable head include respective pluralities of spokes. ### Claim 8 (depends on 1) The device of claim 1, further comprising: a first cutout in the first stationary head; a second cutout in the second stationary head; a first protrusion on the stationary housing configured to fit within the first cutout such that the stationary housing is coupled to the first stationary head; and a second protrusion on the stationary housing configured to fit within the second cutout such that the stationary housing is coupled to the second stationary head. ### Claim 9 (depends on 1) The device of claim 1, further comprising: an actuator coupled to the rotatable housing, wherein the actuator provides a rotational input to the rotatable housing. ### Claim 10 (depends on 1) The device of claim 1, wherein the first sensor and the second sensor comprise linear displacement sensors. ### Claim 11 (depends on 1) The device of claim 1, wherein the first sensor and the second sensor comprise angular displacement sensors. ### Claim 12 (depends on 1) The device of claim 1, further comprising: a third stationary head, a fourth stationary head, a third rotatable head, and a fourth rotatable head in the annular flexure hub, wherein each of the heads comprise an annular sector of the flexure hub, wherein the stationary housing is coupled to the third stationary head and the fourth stationary head of the flexure hub, and wherein the rotatable housing is coupled to the third rotatable head and the fourth rotatable head of the flexure hub such that the first, second, third, and fourth stationary heads are interleaved between the first, second, third, and fourth rotatable heads; a third sensor positioned adjacent the third rotatable head of the flexure hub; and a fourth sensor positioned adjacent the fourth rotatable head of the flexure hub. ### Claim 13 (depends on 1) The device of claim 1, wherein the first and second stationary heads are peninsulas of a single stationary component. ### Claim 14 A robotic joint comprising: a first limb; a second limb; and a torque sensor, wherein the torque sensor includes: an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads; a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub, wherein the stationary housing is further coupled to the first limb; a first sensor positioned adjacent to the first rotatable head of the flexure hub; a second sensor positioned adjacent to the second rotatable head of the flexure hub; and a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub, wherein the rotatable housing is further coupled to the second limb. ### Claim 15 (depends on 14) The robotic joint of claim 14, further comprising: a first gap between the first stationary head and the first rotatable head at an outer circumference of the flexure hub; a second gap between the first rotatable head and the second stationary head at the outer circumference of the flexure hub; a third gap between the second stationary head and the second rotatable head at the outer circumference of the flexure hub; and a fourth gap between the second rotatable head and the first stationary head at the outer circumference of the flexure hub. ### Claim 16 (depends on 15) The robotic joint of claim 15, wherein a width of each of the first gap, the second gap, the third gap, and the fourth gap define a maximum rotation between the rotatable housing and the stationary housing. ### Claim 17 A robotic device comprising: a body; one or more joints coupled to the body, wherein at least one of the one or more joints includes: a first limb; a second limb; a torque sensor, wherein the torque sensor includes (i) an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head, wherein each of the heads comprise an annular sector of the flexure hub, and wherein the first and second stationary heads are interleaved between the first and second rotatable heads, (ii) a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub, wherein the stationary housing is further coupled to the first limb, (iii) a first sensor positioned adjacent to the first rotatable head of the flexure hub, (iv) a second sensor positioned adjacent to the second rotatable head of the flexure hub, and (v) a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub, wherein the rotatable housing is further coupled to the second limb; and a controller programmable to (i) combine a first reading from the first sensor and a second reading from the second sensor to determine a torque on a given joint, and (ii) control a rotational input to the rotatable housing of the given joint based on the determined torque. ### Claim 18 (depends on 17) The robotic device of claim 17, wherein the torque sensor further includes: a first cutout in the first stationary head; a second cutout in the second stationary head; a first protrusion on the stationary housing configured to fit within the first cutout such that the stationary housing is coupled to the first stationary head; and a second protrusion on the stationary housing configured to fit within the second cutout such that the stationary housing is coupled to the second stationary head. ### Claim 19 (depends on 17) The robotic device of claim 17, wherein the first sensor and the second sensor comprise linear displacement sensors. ### Claim 20 (depends on 17) The robotic device of claim 17, further comprising: an actuator coupled to at least one of the first limb and the second limb, wherein the controller is programmable to cause the actuator to provide the rotational input to the rotatable housing of the given joint.