US 12,220,809 B2
Sensing device and robot manipulator having the same
Uikyum Kim, Daejeon (KR); Chanhun Park, Daejeon (KR); Hyunmin Do, Daejeon (KR); Dongil Park, Daejeon (KR); Taeyong Choi, Daejeon (KR); Hwisu Kim, Daejeon (KR); Jongwoo Park, Sejong (KR); Doo-Hyeong Kim, Sejong (KR); and Jin-Ho Kyung, Sejong (KR)
Assigned to KOREA INSTITUTE OF MACHINERY & MATERIALS, Daejeon (KR)
Appl. No. 17/640,388
Filed by KOREA INSTITUTE OF MACHINERY & MATERIALS, Daejeon (KR)
PCT Filed Feb. 5, 2020, PCT No. PCT/KR2020/001673
§ 371(c)(1), (2) Date Mar. 4, 2022,
PCT Pub. No. WO2021/071030, PCT Pub. Date Apr. 15, 2021.
Claims priority of application No. 10-2019-0126391 (KR), filed on Oct. 11, 2019.
Prior Publication US 2022/0331977 A1, Oct. 20, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 17/00 (2006.01); B25J 19/00 (2006.01)
CPC B25J 13/085 (2013.01) [B25J 17/00 (2013.01); B25J 19/0075 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A sensing device comprising:
a cover having a predetermined shape and configured to cover a body;
a force sensor disposed at a position between the body and the cover, and configured to measure a force and a torque applied via the cover at the position; and
a force information calculating part configured to obtain an information on the force applied to the cover from data measured by the force sensor, when the force is applied to an arbitrary position of the cover,
wherein the force information calculating part is configured to obtain the information of the force applied to the cover, by using an information on the predetermined shape of the cover in addition to the data measured by the force sensor.