公开(公告)号：US09802316B2

公开(公告)日：2017-10-31

申请号：US14997307

申请日：2016-01-15

Applicant: Vision Robotics Corporation

Inventor： Harvey Koselka ,  Bret Wallach ,  Andrew Ferencz ,  Richard Wight

IPC: G01L1/14 ,  B25J9/16 ,  G01L1/24 ,  G01L1/25 ,  B25J13/08

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  B25J13/082 ,  B25J13/084 ,  B25J13/085 ,  B25J19/0091 ,  B25J19/027 ,  G01L1/142 ,  G01L1/24 ,  G01L1/25 ,  G05B2219/39527

Abstract: A sensor that detects contact using compression of a compliant material sandwiched between an electromagnetic signal transmitter and a corresponding signal receiver. Potential applications include inexpensive, robust collision sensors integrated into mobile robot bumpers, and sensors on robot grippers to detect grasping of an object. Deformation of the compliant material in response to contact forces changes the distance between the transmitter and the receiver, affecting the electromagnetic field between them. Changes in this electromagnetic field provide information on the location and magnitude of the contact forces. A transmitter and receiver may form opposing surfaces of a capacitor; the measured capacitance changes as the distance between transmitter and receiver changes. Alternatively, the strength of a received signal may be monitored to detect changing distance between transmitter and receiver. Shielding and signal filtering may be used to mitigate the effects of electromagnetic noise.