Multiple degree of freedom force sensor

Patent metadata

Field	Value
Publication number	US-11084174-B2
Application number	US-202017124838-A
Country	US
Kind code	B2
Filing date	Dec 17, 2020
Priority date	Dec 17, 2019
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

Systems and methods related to multiple degree of freedom force sensors are disclosed. One aspect of the disclosure provides a load sensor. The load sensor comprises a first plate and a second plate, a plurality of single-axis load cells including first, second, and third single-axis load cells, wherein each of the first, second, and third single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis, and a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.

First claim

The invention claimed is:

1. A load sensor, comprising:
a first plate and a second plate;
a plurality of single-axis load cells including first, second, third, and fourth single-axis load cells, wherein each of the first, second, third, and fourth single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis, wherein each of the first, second, third, and fourth single-axis load cells is disposed at a corner of the first plate; and
a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.

2. The load sensor of claim 1 , wherein the plurality of constraint joints includes at least one spherical constraint.

3. The load sensor of claim 2 , wherein the at least one spherical constraint is disposed at a centroid of the plurality of single-axis load cells.

4. The load sensor of claim 1 , wherein the plurality of single-axis load cells are configured to measure forces along the first axis.

5. The load sensor of claim 1 , further comprising:
an output interface configured to provide signals output from the plurality of single-axis load cells to a processor, wherein the processor is configured to calculate moments about a second axis and a third axis, wherein the second and third axes are each perpendicular to the first axis, and wherein the second axis is perpendicular to the third axis.

6. The load sensor of claim 1 , wherein each of the plurality of single-axis load cells is coupled to the first plate and the second plate through spherical constraints.

7. The load sensor of claim 1 , wherein each of the plurality of single-axis load cells is coupled to the first plate and the second plate through unidirectional constraints.

8. The load sensor of claim 1 , wherein each of the plurality of single-axis load cells is configured to measure both compressive and tensile forces along the first axis.

9. The load sensor of claim 1 , wherein the plurality of single-axis load cells further includes a fifth single-axis load cell oriented along a second axis perpendicular to the first axis.

10. The load sensor of claim 9 , further comprising a dual-axis load cell oriented along the second axis and a third axis, wherein the third axis is perpendicular to both the first axis and the second axis.

11. The load sensor of claim 10 , wherein each of the plurality of constraint joints is co-located with at least one of the plurality of single-axis load cells and/or the dual-axis load cell.

12. 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, third, and fourth 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;
determining moments about second and third axes based on the sensed outputs of the plurality of single-axis load cells, wherein the second and third axes are each perpendicular to the first axis, and wherein the second axis is perpendicular to the third axis; and
adjusting an operation of the robot based, at least in part, on the determined forces and moments.

13. The method of claim 12 , wherein the plurality of single-axis load cells further includes a fifth single-axis load cell oriented along the second axis, wherein the method further comprises determining forces along the second axis based on the sensed output of the plurality of single-axis load cells.

14. The method of claim 13 , further comprising determining forces along the second and third axes based on the sensed output of the plurality of single-axis load cells and/or the sensed output of a dual-axis load cell oriented along the second axis and the third axis.

15. The method of claim 14 , further comprising determining moments about the first axis based on the sensed outputs of the plurality of single-axis load cells and/or the sensed output of the dual-axis load cell.

16. The method of claim 12 , wherein adjusting the operation of the robot includes adjusting an acceleration of the robot.

17. The method of claim 16 , wherein adjusting the acceleration of the robot includes limiting a maximum acceleration of the portion of the robot.

18. The method of claim 12 , wherein adjusting the operation of the robot includes adjusting a trajectory of the robot.

19. A robot comprising:
at least one movable limb; and
a load sensor coupled to the at least one movable limb, wherein the load sensor comprises:
a first plate and a second plate;
a plurality of single-axis load cells including first, second, third, and fourth single-axis load cells, wherein each of the first, second, third, and fourth single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis, wherein each of the first, second, third, and fourth single-axis load cells is disposed at a corner of the first plate; and
a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.

20. The robot of claim 19 , wherein the at least one movable limb includes a manipulator arm.

21. The robot of claim 20 , wherein the manipulator arm includes an end-effector, and wherein the load sensor is coupled to the end-effector.

22. The robot of claim 19 , further comprising a processor configured to receive signals output from the load sensor.

23. The robot of claim 22 , wherein the processor is configured to adjust an operation of the robot based, at least in part, on the received signals.

24. The robot of claim 23 , wherein the processor is configured to limit an acceleration of the at least one movable limb based, at least in part, on the received signals.

25. The robot of claim 23 , wherein the processor is configured to adjust a trajectory of the at least one movable limb based, at least in part, on the received signals.

Assignees

• Boston Dynamics Inc

Inventors

• Saunders John Aaron
• Borrell Adam Henry
• Geating Joshua Timothy

Classifications

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G01L5/16 Primary

  for measuring several components of force · CPC title

• B25J13/085 Primary

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1602

  characterised by the control system, structure, architecture · CPC title

• B25J9/10

  characterised by positioning means for manipulator elements · CPC title