公开(公告)号：US09914212B2

公开(公告)日：2018-03-13

申请号：US15400168

申请日：2017-01-06

Applicant: Somatis Sensor Solutions LLC

Inventor： Nicholas Wettels

IPC: B25J9/16 ,  G01L5/22 ,  B25J13/08 ,  B25J15/00 ,  B25J19/02

CPC classification number: B25J9/1612 ,  B25J13/082 ,  B25J13/086 ,  B25J15/00 ,  B25J15/0028 ,  B25J19/023 ,  G01L5/226 ,  G05B2219/37002 ,  G05B2219/39528

Abstract: Disclosed is a tactile sensing and integrated vision system that surmounts problems of existing systems. The tactile sensing skin can be formed into any shape, size, or form factor, including large areas. Computer-implemented algorithms can detect position-orientation and force-torque at landmark points for a given object set. The result is a modular sensing system that is highly scalable in terms of price, quantity, size and applications. Such skin technology and associated software can comprise a sensing package that integrates tactile and visual data with accompanying software for state estimation, situational awareness, and automatic control of machinery. The addition of tactile data can serve to constrain and/or augment visual pose estimation methods as well as provide pose estimation to visually occluded objects.

公开(公告)号：US10155318B2

公开(公告)日：2018-12-18

申请号：US15460440

申请日：2017-03-16

Applicant: Somatis Sensor Solutions LLC

Inventor： Mohammad Dadkhah Tehrani ,  Nicholas Wettels

IPC: B25J15/00 ,  C09J11/04 ,  C09J9/02 ,  C09J201/00 ,  C08K3/04

Abstract: Provided are systems and methods for the post-treatment of dry adhesive microstructures. The microstructures may be post-treated to comprise mushroom-like flaps at their tips to interface with the contact surface. In some aspects, a change in material composition of the microstructures in a dry adhesive may affect mechanical properties to enhance or diminish overall adhesive performance. For example, conductive additives can be added to the material to improve adhesive performance. In other aspects, microstructures comprising conductive material may allow for pre-load engagement sensing systems to be integrated into the microstructures.

公开(公告)号：US20140365009A1

公开(公告)日：2014-12-11

申请号：US14302273

申请日：2014-06-11

Applicant: Somatis Sensor Solutions LLC

Inventor： Nicholas Wettels

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  B25J13/082 ,  B25J13/086 ,  B25J15/00 ,  B25J15/0028 ,  B25J19/023 ,  G01L5/226 ,  G05B2219/37002 ,  G05B2219/39528

Abstract: Disclosed is a tactile sensing and integrated vision system that surmounts problems of existing systems. The tactile sensing skin can be formed into any shape, size, or form factor, including large areas. Computer-implemented algorithms can detect position-orientation and force-torque at landmark points for a given object set. The result is a modular sensing system that is highly scalable in terms of price, quantity, size and applications. Such skin technology and associated software can comprise a sensing package that integrates tactile and visual data with accompanying software for state estimation, situational awareness, and automatic control of machinery. The addition of tactile data can serve to constrain and/or augment visual pose estimation methods as well as provide pose estimation to visually occluded objects.

Abstract translation: 公开了一种消除现有系统问题的触觉感知和综合视觉系统。 触觉感觉皮肤可以形成任何形状，尺寸或形状因子，包括大面积。 计算机实现的算法可以检测给定对象集合的地标点处的位置取向和力矩。 结果是在价格，数量，尺寸和应用方面具有高度可扩展性的模块化感测系统。 这种皮肤技术和相关软件可以包括将触觉和视觉数据与用于状态估计，情境感知和机械的自动控制的伴随软件相集成的感测包。 触觉数据的添加可以用于约束和/或增加视觉姿态估计方法，并且向视觉遮挡对象提供姿态估计。

公开(公告)号：US20180264657A1

公开(公告)日：2018-09-20

申请号：US15460440

申请日：2017-03-16

Applicant: Somatis Sensor Solutions LLC

Inventor： Mohammad DADKHAH TEHRANI ,  Nicholas WETTELS

IPC: B25J15/00 ,  C09J11/04 ,  C09J9/02 ,  C09J201/00

CPC classification number: C09J201/00 ,  B81C1/00 ,  C08K3/04 ,  C08K3/041 ,  C08K2201/001 ,  C09J7/00 ,  C09J2201/626

Abstract: Provided are systems and methods for the post-treatment of dry adhesive microstructures. The microstructures may be post-treated to comprise mushroom-like flaps at their tips to interface with the contact surface. In some aspects, a change in material composition of the microstructures in a dry adhesive may affect mechanical properties to enhance or diminish overall adhesive performance. For example, conductive additives can be added to the material to improve adhesive performance. In other aspects, microstructures comprising conductive material may allow for pre-load engagement sensing systems to be integrated into the microstructures.

公开(公告)号：US20170165832A1

公开(公告)日：2017-06-15

申请号：US15400168

申请日：2017-01-06

Applicant: Somatis Sensor Solutions LLC

Inventor： Nicholas Wettels

IPC: B25J9/16 ,  B25J19/02 ,  B25J15/00 ,  G01L5/22 ,  B25J13/08

CPC classification number: B25J9/1612 ,  B25J13/082 ,  B25J13/086 ,  B25J15/00 ,  B25J15/0028 ,  B25J19/023 ,  G01L5/226 ,  G05B2219/37002 ,  G05B2219/39528

Abstract: Disclosed is a tactile sensing and integrated vision system that surmounts problems of existing systems. The tactile sensing skin can he formed into any shape, size, or form factor, including large areas. Computer-implemented algorithms can detect position-orientation and force-torque at landmark points for a given object set. The result is a modular sensing system that is highly scalable in terms of price, quantity, size and applications. Such skin technology and associated software can comprise a sensing package that integrates tactile and visual data with accompanying software for state estimation, situational awareness, and automatic control of machinery. The addition of tactile data can serve to constrain and/or augment visual pose estimation methods as well as provide pose estimation to visually occluded objects.

公开(公告)号：US09579801B2

公开(公告)日：2017-02-28

申请号：US14302273

申请日：2014-06-11

Applicant: Somatis Sensor Solutions LLC

Inventor： Nicholas Wettels

IPC: G01L1/16 ,  B25J13/08 ,  B25J9/16 ,  G01L5/22 ,  B25J15/00

CPC classification number: B25J9/1612 ,  B25J13/082 ,  B25J13/086 ,  B25J15/00 ,  B25J15/0028 ,  B25J19/023 ,  G01L5/226 ,  G05B2219/37002 ,  G05B2219/39528

Abstract: Disclosed is a tactile sensing and integrated vision system that surmounts problems of existing systems. The tactile sensing skin can be formed into any shape, size, or form factor, including large areas. Computer-implemented algorithms can detect position-orientation and force-torque at landmark points for a given object set. The result is a modular sensing system that is highly scalable in terms of price, quantity, size and applications. Such skin technology and associated software can comprise a sensing package that integrates tactile and visual data with accompanying software for state estimation, situational awareness, and automatic control of machinery. The addition of tactile data can serve to constrain and/or augment visual pose estimation methods as well as provide pose estimation to visually occluded objects.

Abstract translation: 公开了一种消除现有系统问题的触觉感知和综合视觉系统。 触觉感觉皮肤可以形成任何形状，尺寸或形状因子，包括大面积。 计算机实现的算法可以检测给定对象集合的地标点处的位置取向和力矩。 结果是在价格，数量，尺寸和应用方面具有高度可扩展性的模块化感测系统。 这种皮肤技术和相关软件可以包括将触觉和视觉数据与用于状态估计，情境感知和机械的自动控制的伴随软件相集成的感测包。 触觉数据的添加可以用于约束和/或增加视觉姿态估计方法，并且向视觉遮挡对象提供姿态估计。