US 12,454,051 B2
Systems and methods for tactile gesture interpretation
Elizabeth Bianchini, Pittsburgh, PA (US); Prateek Verma, Stanford, CA (US); J. Kenneth Salisbury, Jr., Mountain View, CA (US); and Etienne Chassaing, Stanford, CA (US)
Assigned to The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Filed by The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Filed on Dec. 2, 2022, as Appl. No. 18/061,341.
Claims priority of provisional application 63/385,719, filed on Dec. 1, 2022.
Claims priority of provisional application 63/264,809, filed on Dec. 2, 2021.
Prior Publication US 2023/0173669 A1, Jun. 8, 2023
Int. Cl. A61B 17/29 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/1653 (2013.01); B25J 13/082 (2013.01); B25J 13/085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a robot to handoff an object, the method comprising:
presenting an object to a receiver, wherein the receiver grasps the object upon being presented with the object;
moving, using a robot arm, the object to interrogate a grip stiffness of the receiver;
measuring a response by the receiver to the moving using a set of one or more sensors equipped on the robot arm;
computing the grip stiffness of the receiver based on the measured response; and
determining whether to release the object to the receiver based on the computed grip stiffness of the receiver.