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US Patent 11009414 Sensor system for calculating pressing force or moment based on signals output by kinesthetic-sense sensors, robot hand including the sensor system, and method for calibrating the sensor system

Patent 11009414 was granted and assigned to Toyota on May, 2021 by the United States Patent and Trademark Office.

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Patent abstractTimelineTable: Further ResourcesReferences
Is a
Patent
Patent

Patent attributes

Patent Applicant
Toyota
Toyota
Current Assignee
Toyota
Toyota
Patent Jurisdiction
United States Patent and Trademark Office
United States Patent and Trademark Office
Patent Number
11009414
Date of Patent
May 18, 2021
Patent Application Number
16552621
Date Filed
August 27, 2019
Patent Citations
‌
US Patent 10442091 Pressure-sensitive sensor, gripping device, and robot
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US Patent 10065309 Touch sensitive robotic gripper
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US Patent 10293490 All-elastomer 3-axis contact resistive tactile sensor arrays and micromilled manufacturing methods thereof
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US Patent 10564059 Force sensor
Patent Primary Examiner
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Tran M. Tran
Patent abstract

A sensor system includes a substrate with a reference plane, a plurality of kinesthetic-sense sensors disposed on the substrate, each of the plurality of kinesthetic-sense sensors being configured to output signals of three axial directions corresponding to an orthogonal-axis direction orthogonal to the reference plane and two axial directions parallel to the reference plane, respectively, according to an external force from an object received at a force receiving part, a control unit configured to determine whether or not a value of each of the signals is larger than a predetermined threshold, and calculate a pressing force in the orthogonal-axis direction or a moment around the orthogonal axis received from the object based on a result of the determination, and an output unit configured to output a result of the calculation.

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