US 12,071,335 B2
Sensor devices including force sensors and robots incorporating the same
Alexander Alspach, Somerville, MA (US); Andrew M. Beaulieu, Somerville, MA (US); and Aimee S. Goncalves, Kingston, MA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on May 31, 2022, as Appl. No. 17/829,085.
Claims priority of provisional application 63/272,824, filed on Oct. 28, 2021.
Prior Publication US 2023/0147247 A1, May 11, 2023
Int. Cl. B66F 9/18 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 9/06 (2006.01); B25J 9/14 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 19/00 (2006.01); B66F 9/075 (2006.01); G01L 1/04 (2006.01); G01L 1/12 (2006.01); G01L 1/22 (2006.01); G01L 5/00 (2006.01); G01L 5/22 (2006.01); G01L 7/08 (2006.01); G01L 9/00 (2006.01)
CPC B66F 9/18 (2013.01) [B25J 5/007 (2013.01); B25J 9/0009 (2013.01); B25J 9/06 (2013.01); B25J 9/144 (2013.01); B25J 9/1612 (2013.01); B25J 9/1682 (2013.01); B25J 13/084 (2013.01); B25J 13/085 (2013.01); B25J 15/0033 (2013.01); B25J 19/007 (2013.01); B25J 19/0075 (2013.01); B66F 9/0759 (2013.01); G01L 1/04 (2013.01); G01L 1/046 (2013.01); G01L 1/127 (2013.01); G01L 1/22 (2013.01); G01L 5/0028 (2013.01); G01L 5/0061 (2013.01); G01L 7/082 (2013.01); G01L 9/0055 (2013.01); G01L 9/0064 (2013.01); B25J 5/00 (2013.01); B25J 9/0087 (2013.01); G01L 5/226 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A sensor device comprising:
an inflatable diaphragm disposed about a member; and
an array of force sensors disposed about the inflatable diaphragm;
wherein, when the inflatable diaphragm contacts an object, the inflatable diaphragm applies a force to the array of force sensors, and each of the array of force sensors provides one or more signals indicative of a location of contact between the object and the inflatable diaphragm.