US 12,434,390 B2
Multiple degree of freedom force sensor
John Aaron Saunders, Waltham, MA (US); Adam Henry Borrell, Waltham, MA (US); and Joshua Timothy Geating, Allston, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jul. 14, 2021, as Appl. No. 17/375,644.
Application 17/375,644 is a continuation of application No. 17/124,838, filed on Dec. 17, 2020, granted, now 11,084,174.
Claims priority of provisional application 62/949,406, filed on Dec. 17, 2019.
Prior Publication US 2021/0339402 A1, Nov. 4, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); G01G 21/24 (2006.01); G01L 1/00 (2006.01); G01L 5/00 (2006.01); G01G 21/18 (2006.01); G01G 21/23 (2006.01)
CPC B25J 13/085 (2013.01) [B25J 9/1633 (2013.01); G01G 21/24 (2013.01); G01L 5/00 (2013.01); B25J 9/162 (2013.01); B25J 9/1638 (2013.01); G01G 21/18 (2013.01); G01G 21/23 (2013.01); G01L 1/00 (2013.01)] 24 Claims
OG exemplary drawing
 
11. A method for determining one or more forces and/or torques applied to a portion of a robot, the method comprising:
sensing, by a plurality of single-axis load cells including first, second, and third single-axis load cells oriented along a first axis and disposed between a first plate and a second plate, forces applied to the portion of the robot, wherein the first and second plates are constrained by a plurality of constraint joints disposed between the first plate and the second plate, wherein the plurality of constraint joints are configured to inhibit relative translation between the first and second plates in directions perpendicular to the first axis and are configured to inhibit relative rotation between the first and second plates about the first axis;
determining forces along the first axis based on the sensed output of the plurality of single-axis load cells; and
adjusting an operation of the robot based, at least in part, on the determined forces.