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1. WO2020205620 - TACTILE PERCEPTION APPARATUS FOR ROBOTIC SYSTEMS

Publication Number WO/2020/205620
Publication Date 08.10.2020
International Application No. PCT/US2020/025459
International Filing Date 27.03.2020
IPC
B25J 9/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 13/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
B25J 15/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
CPC
B25J 13/025
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
02Hand grip control means
025comprising haptic means
B25J 13/082
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
081Touching devices, e.g. pressure-sensitive
082Grasping-force detectors
B25J 13/083
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
081Touching devices, e.g. pressure-sensitive
082Grasping-force detectors
083fitted with slippage detectors
B25J 13/084
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
081Touching devices, e.g. pressure-sensitive
084Tactile sensors
B25J 13/085
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
085Force or torque sensors
B25J 13/086
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
086Proximity sensors
Applicants
  • ROBOTIK INNOVATIONS, INC. [US]/[US]
Inventors
  • KERALY, Christopher Lalau
  • SMITH, Clinton J.
  • PAULSON, Christopher A.
  • CASSE, Bernard D.
  • SHAFFER, Matthew E.
Agents
  • BEVER, Patric T.
Priority Data
16/832,69027.03.2020US
62/826,31229.03.2019US
62/826,81629.03.2019US
62/826,83429.03.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) TACTILE PERCEPTION APPARATUS FOR ROBOTIC SYSTEMS
(FR) APPAREIL DE PERCEPTION TACTILE DESTINÉ À DES SYSTÈMES ROBOTIQUES
Abstract
(EN)
Human-like tactile perception apparatus for providing enhanced tactile information (feedback data) from an end-effector/gripper to the control circuit of an arm-type robotic system. The apparatus's base structure is attached to the gripper's finger and includes a flat/planar support plate that presses a pressure sensor array against a target object during operable interactions. The pressure sensor array generates pressure sensor data that indicates portions of the array contacted by surface features of the target object. A sensor data processing circuit generates tactile information in response to the pressure sensor data, then transmits the tactile information to the robotic system's control circuit. An optional mezzanine connector extends through an opening in the support plate to pass pressure sensor data to the processing circuit. An encapsulating layer covers the pressure sensor array and transmits pressure waves generated by slipping objects to enhance the tactile information.
(FR)
L’invention concerne un appareil de perception tactile humanoïde destiné à fournir des informations tactiles améliorées (données de rétroaction) d’un effecteur terminal/préhenseur au circuit de commande d'un système robotique de type à bras. La structure de base de l'appareil est fixée au doigt du préhenseur et comprend une plaque porteuse plate/plane qui presse un réseau de capteurs de pression contre un objet cible pendant des interactions fonctionnelles. Le réseau de capteurs de pression génère des données de capteur de pression qui indiquent des parties du réseau mises en contact par des caractéristiques de surface de l'objet cible. Un circuit de traitement de données de capteur génère des informations tactiles en réponse aux données de capteur de pression, puis transmet les informations tactiles au circuit de commande du système robotique. Un connecteur mezzanine facultatif traverse une ouverture dans la plaque porteuse pour permettre le passage des données de capteur de pression au circuit de traitement. Une couche d'encapsulation recouvre le réseau de capteurs de pression et transmet des ondes de pression générées par des objets glissants pour améliorer les informations tactiles.
Latest bibliographic data on file with the International Bureau