公开(公告)号：US20230200250A1

公开(公告)日：2023-06-22

申请号：US17928453

申请日：2021-05-29

申请人： The Regents of the University of Colorado, a body corporate

发明人： Nikolaus Correll ,  Khoi D. Ly ,  Nicholas Alexander Kellaris ,  Christoph Matthias Keplinger

IPC分类号： H10N30/80 ,  H10N30/20 ,  H10N30/00 ,  G01L1/14 ,  G01D5/24

CPC分类号： H10N30/802 ,  G01D5/24 ,  G01L1/144 ,  H10N30/20 ,  H10N30/1071

摘要： Transducer systems disclosed herein include self-sensing capabilities. In particular, electrostatic transducers include a low voltage electrode and a high voltage electrode. A low voltage sensing unit is coupled with the low voltage electrode of the electrostatic transducer. The low voltage sensing unit is configured to measure a capacitance of the electrostatic transducer, from which displacement of the electrostatic transducer may be calculated. High voltage drive signals received by the high voltage electrode during actuation may be isolated from the low voltage sensing unit. The isolation may be provided by dielectric material of the electrostatic transducer, a voltage suppression component, and/or a voltage suppression module comprising a low impedance ground path. In the event of an electrical failure of the transducer, the low voltage sensing unit may be isolated from high voltages.

公开(公告)号：US20170297206A1

公开(公告)日：2017-10-19

申请号：US15487463

申请日：2017-04-14

申请人： The Regents of the University of Colorado, a body corporate

发明人： Nikolaus Correll

IPC分类号： B25J13/08 ,  G01L5/22 ,  G01L1/24 ,  G01S17/08

CPC分类号： B25J13/085 ,  B25J13/086 ,  B25J15/08 ,  G01L1/248 ,  G01L5/228 ,  G01S7/4813 ,  G01S17/08 ,  G01S17/87 ,  G01S17/88

摘要： A force, distance and contact measurement system comprising at least one low-cost tactile sensor embedded in elastomer and retrofitted onto existing robotic grippers is provided. The sensor is simple to manufacture and easy to integrate with existing hardware. The sensor can be arranged in strips and arrays, facilitating manipulation tasks in uncertain environments. The elastomer protects the sensor, provides a rugged and low-friction surface, and allows performing force measurements.

公开(公告)号：US20220379493A1

公开(公告)日：2022-12-01

申请号：US17746427

申请日：2022-05-17

申请人： The Regents of the University of Colorado, a body corporate

发明人： Mark Rentschler ,  Vani Sundaram ,  Khoi Ly ,  Jatin Mayekar ,  Nikolaus Correll

IPC分类号： B25J15/00 ,  H02N1/00

摘要： A magnetic sensing approach for determining a positioning characteristic of a soft robotic actuator. A magnetic field or a change in magnetic field of a magnetic member may be measured as it undergoes concurrent displacement with a soft actuator. Additionally, an example rolling robotic wheel is illustrated. The robotic wheel may utilize magnetic sensing as described herein.

公开(公告)号：US20210293643A1

公开(公告)日：2021-09-23

申请号：US17257715

申请日：2019-07-05

申请人： The Regents of the University of Colorado, a body corporate

发明人： Nikolaus Correll ,  Radhen Patel ,  Jacob Segil ,  John Klingner ,  Richard F. Weir

IPC分类号： G01L5/22 ,  B25J15/00 ,  A61F2/58

摘要： Various embodiments of the present technology generally relate to robotics and prosthetics. More specifically, some embodiments of the present technology relate to multi-modal fingertip sensors with proximity, contact, and for localization capabilities. Various embodiments of the present technology provide for a novel multi-modal tactile sensor which comprises an infrared proximity sensor and a barometric pressure sensor embedded in an elastomer layer. Signals from both of these sensors can be fused to measure proximity (0-10 mm), contact (0N), force (0-50N) and localize impact at five spatial locations and three angles of incidence. Gaussian processes in a regression setting can be used to obtain calibrated force measurements with an R-squared value of 0.99. Supervised machine learning approaches can be used to localize the position and direction of probing with classification accuracies of 96% and 89% respectively.