-
公开(公告)号：US20220003620A1
公开(公告)日：2022-01-06
申请号：US17475619
申请日：2021-09-15
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
IPC: G01L5/16 , G01J1/42 , G01J1/04 , G01B11/14 , G01L5/166 , G01B11/02 , G01L3/08 , G01L5/00 , G01B11/26 , G01L1/24 , B25J13/08 , G01D5/30
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
-
公开(公告)号：US11150152B2
公开(公告)日：2021-10-19
申请号：US16382661
申请日：2019-04-12
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
IPC: G01L5/16 , G01J1/42 , G01J1/04 , G01B11/14 , G01L5/166 , G01B11/02 , G01L3/08 , G01L5/00 , G01B11/26 , G01L1/24 , B25J13/08 , G01D5/30
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
-
公开(公告)号：US10883891B2
公开(公告)日：2021-01-05
申请号：US16804108
申请日：2020-02-28
Applicant: X Development LLC
Inventor： Adam Reich , Stephen Dorow
IPC: G01L3/08
Abstract: An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.
-
公开(公告)号：US10274386B2
公开(公告)日：2019-04-30
申请号：US15187445
申请日：2016-06-20
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
-
公开(公告)号：US20190072443A1
公开(公告)日：2019-03-07
申请号：US15698511
申请日：2017-09-07
Applicant: X Development LLC
Inventor： Adam Reich , Stephen Dorow
IPC: G01L3/08
Abstract: An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.
-
Patent Agency Ranking
公开(公告)号：US09505132B1
公开(公告)日：2016-11-29
申请号：US14673165
申请日：2015-03-30
Applicant: X Development LLC
Inventor： Jeffrey Thomas Bingham , Rob Wilson , Adam Reich
CPC classification number: B25J9/1692 , B25J9/1671 , B25J9/1694 , G05B2219/40599 , G05B2219/41357
Abstract: Examples are provided that describe calibration of a sensor of a robotic device. In one example, a system includes least one processor and data storage comprising instructions executable by the at least one processor to cause the system to perform operations. The operations include simulating a movement of a robotic component of a robotic device to a plurality of positions. The operations may also include determining a relationship between a simulated torque values and simulated force values at the plurality of positions. The operations may also include determining expected torque values based on detected force values and the determined relationship. Based on the expected torque values satisfying a threshold associated with the simulated torque values, determining a plurality of calibration parameters of the one or more sensors according to the optimization.
Abstract translation: 提供了描述机器人装置的传感器的校准的示例。 在一个示例中，系统包括至少一个处理器和数据存储器，该数据存储器包括可由所述至少一个处理器执行以使系统执行操作的指令。 这些操作包括模拟机器人装置的机器人部件到多个位置的运动。 操作还可以包括确定模拟扭矩值与多个位置处的模拟力值之间的关系。 操作还可以包括基于检测到的力值和所确定的关系来确定预期扭矩值。 基于满足与模拟转矩值相关联的阈值的预期转矩值，根据优化确定一个或多个传感器的多个校准参数。
-
公开(公告)号：US10732061B2
公开(公告)日：2020-08-04
申请号：US15698511
申请日：2017-09-07
Applicant: X Development LLC
Inventor： Adam Reich , Stephen Dorow
IPC: G01L3/08
Abstract: An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.
-
公开(公告)号：US20190234819A1
公开(公告)日：2019-08-01
申请号：US16382661
申请日：2019-04-12
Applicant: X Development LLC
Inventor： Alex Shafer , Adam Reich , Emily Cooper
CPC classification number: G01L5/16 , B25J13/085 , G01B11/026 , G01B11/14 , G01B11/26 , G01D5/30 , G01J1/04 , G01J1/4228 , G01L1/24 , G01L3/08 , G01L5/0038 , G01L5/0042 , G01L5/009 , G01L5/166
Abstract: The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.
-
公开(公告)号：US10239213B1
公开(公告)日：2019-03-26
申请号：US15226387
申请日：2016-08-02
Applicant: X Development LLC
Inventor： Adam Reich
Abstract: An example device includes a first flexural element, a second flexural element, a first rigid component and a second rigid component. The rigid components have a fixed height that axially offsets the first flexural element from the second flexural element. The first rigid component is coupled to the first flexural element at one or more connection points on a first plane and coupled to the second flexural element at one or more connection points on a second plane. The second rigid component is coupled to the first flexural element at one or more other connection points on the first plane and coupled to the second flexural element at one or more other connection points on the second plane.
-
公开(公告)号：US09869597B1
公开(公告)日：2018-01-16
申请号：US15204836
申请日：2016-07-07
Applicant: X Development LLC
Inventor： Adam Reich
CPC classification number: G01L5/0019 , B25J13/085 , G01L1/16 , G01L5/226
Abstract: An example device includes a flexural element, a bendable carrier element, and a plurality of strain gages. The flexural element includes a plurality of surfaces, such as a planar surface and a perimeter surface. The bendable carrier element is shaped in order to conform to the plurality of surfaces of the flexural element when the carrier element is bent around the flexural element. The plurality of strain gages are attached to the carrier element when the carrier element is flat. Furthermore, the plurality of strain gages are positioned along the plurality of surfaces of the flexural element when the carrier element is bent around the flexural element to conform to the plurality of surfaces of the flexural element and the carrier element is attached to the flexural element.
-
-
-
-
-
-
-
-
-
Search Results
11
records
(took 0.029 seconds)
