US 12,427,671 B2
Systems and methods for providing contact detection in an articulated arm
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Somerville, MA (US); Kyle Maroney, Saunderstown, RI (US); Matthew T. Mason, Atlanta, GA (US); Gene Temple Price, Somerville, MA (US); Joseph Romano, Arlington, MA (US); Daniel Carlton Smith, Wexford, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on May 24, 2024, as Appl. No. 18/673,995.
Application 18/673,995 is a continuation of application No. 18/234,847, filed on Aug. 16, 2023, granted, now 12,023,818, issued on Jul. 2, 2024.
Application 18/234,847 is a continuation of application No. 18/093,264, filed on Jan. 4, 2023, granted, now 11,813,734, issued on Nov. 14, 2023.
Application 18/093,264 is a continuation of application No. 17/736,606, filed on May 4, 2022, granted, now 11,597,095, issued on Mar. 7, 2023.
Application 17/736,606 is a continuation of application No. 17/123,862, filed on Dec. 16, 2020, granted, now 11,370,122, issued on Jun. 28, 2022.
Application 17/123,862 is a continuation of application No. 16/743,428, filed on Jan. 15, 2020, granted, now 10,913,159, issued on Feb. 9, 2021.
Application 16/743,428 is a continuation of application No. 16/545,627, filed on Aug. 20, 2019, granted, now 10,875,185, issued on Dec. 29, 2020.
Application 16/545,627 is a continuation of application No. 16/212,113, filed on Dec. 6, 2018, granted, now 10,618,177, issued on Apr. 14, 2020.
Application 16/212,113 is a continuation of application No. 15/242,255, filed on Aug. 19, 2016, granted, now 10,343,284, issued on Jul. 9, 2019.
Claims priority of provisional application 62/210,235, filed on Aug. 26, 2015.
Prior Publication US 2024/0308079 A1, Sep. 19, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/06 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/1694 (2013.01) [B25J 9/1638 (2013.01); B25J 13/088 (2013.01); B25J 15/0616 (2013.01); B25J 17/0208 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A programmable motion system including an end-effector attached to an attachment portion of a programmable motion device, the end-effector including at least one contact surface for contacting an object, a compliant section between the at least one contact surface and the attachment portion of the programmable motion device, and a movement detection system that extends at least partially distal of the attachment portion for detecting movement in three mutually orthogonal degrees of freedom of the at least one contact surface with respect to the attachment portion of the programmable motion device via the compliant section.