Isolated force/torque sensor assembly for force controlled robot

Patent metadata

Field	Value
Publication number	US-9739674-B2
Application number	US-201614990513-A
Country	US
Kind code	B2
Filing date	Jan 7, 2016
Priority date	Jan 9, 2015
Publication date	Aug 22, 2017
Grant date	Aug 22, 2017

Abstract

An isolated force/torque sensor assembly for a force controlled robot includes an end effector for operatively attaching to an arm of the force controlled robot, the end effector having a gripping portion adapted to be gripped by a hand of a user, and a force/torque sensor adapted to be disposed between the gripping portion and the arm of the robot, the force/torque sensor having a high force end effector interface adapted to be attached to the arm of the robot, a low force end effector interface operatively attached to the gripping portion, and a transducer disposed between the high force end effector interface and the low force end effector interface for reacting to loads applied to the low force end effector interface for user controlled positioning of a surgical tool and for generating corresponding output signals, and wherein the transducer is bypassed for high loads.

First claim

What is claimed is:

1. An isolated force/torque sensor assembly for a force controlled robot comprising:
a gripping portion adapted to be gripped by a hand of a user and configured to be operatively attached to an arm of the force controlled robot; and
a force/torque sensor for disposing between said gripping portion and the arm of the robot, said force/torque sensor having a high force end effector interface for attaching to the arm of the robot, a low force end effector interface operatively attached to said gripping portion, and a transducer disposed between said high force end effector interface and said low force end effector interface for reacting to loads applied to said low force end effector interface for user controlled positioning of a surgical tool and for generating corresponding output signals, and wherein said transducer is bypassed for high loads.

2. An isolated force/torque sensor assembly as set forth in claim 1 wherein said gripping portion is generally cylindrical in shape.

3. An isolated force/torque sensor assembly as set forth in claim 1 wherein said low force end effector interface is attached to one end of said gripping portion.

4. An isolated force/torque sensor assembly as set forth in claim 1 including a shaft portion extending from said gripping portion and attached to said low force end effector interface.

5. An isolated force/torque sensor assembly as set forth in claim 4 wherein said gripping portion, said shaft portion, and said low force end effector interface are integral and one-piece.

6. An isolated force/torque sensor assembly as set forth in claim 1 wherein said high force end effector interface is adapted to be mechanically grounded to the arm of the robot.

7. An isolated force/torque sensor assembly as set forth in claim 1 including a plurality of beams extending between said low force end effector interface and said high force end effector interface.

8. An isolated force/torque sensor assembly as set forth in claim 7 wherein said beams are flexible.

9. An isolated force/torque sensor assembly as set forth in claim 1 wherein said gripping portion floats with said low force end effector interface.

10. An isolated force/torque sensor assembly for a force controlled robot comprising:
a gripping portion adapted to be gripped by a hand of a user and configured to be operatively attached to an arm of the force controlled robot;
a shaft portion extending radially from said gripping portion; and
a force/torque sensor having a high force end effector interface adapted to be attached to the arm of the robot, a low force end effector interface attached to said shaft portion, and a transducer disposed between said high force end effector interface and said low force end effector interface for reacting to loads applied to said low force end effector interface for generating corresponding output signals.

11. An isolated force/torque sensor assembly as set forth in claim 10 wherein said gripping portion is generally cylindrical in shape.

12. An isolated force/torque sensor assembly as set forth in claim 10 wherein said gripping portion, said shaft portion, and said low force end effector interface are integral and one-piece.

13. An isolated force/torque sensor assembly as set forth in claim 10 wherein said high force end effector interface is adapted to be mechanically grounded to the arm of the robot.

14. An isolated force/torque sensor assembly for a force controlled robot comprising:
a gripping portion adapted to be gripped by a hand of a user and configured to be operatively attached to an arm of the force controlled robot; and
a force/torque sensor having a high force end effector interface adapted to be attached to the arm of the robot, said high force end effector interface having a guide extending through said gripping portion, a low force end effector interface attached to one end of said gripping portion, said gripping portion floating with said low force end effector interface, and a transducer disposed between said high force end effector interface and said low force end effector interface for reacting to loads applied to said low force end effector interface for generating corresponding output signals.

15. An isolated force/torque sensor assembly as set forth in claim 14 wherein said gripping portion is generally cylindrical in shape.

16. An isolated force/torque sensor assembly as set forth in claim 14 wherein said high force end effector interface is adapted to be mechanically grounded to the arm of the robot.

17. An isolated force/torque sensor assembly for a force controlled robot comprising:
a gripping portion adapted to be gripped by a hand of a user and configured to be operatively attached to an arm of the force controlled robot;
a shaft portion extending from said gripping portion; and
a force/torque sensor having a high force end effector interface adapted to be attached to the arm of the robot, a low force end effector interface attached to said shaft portion, a plurality of beams extending between said low force end effector interface and said high force end effector interface and spaced from said high force end effector interface to act as stops against said high force end effector interface in response to excessive force on said force/torque sensor, and a transducer disposed between said high force end effector interface and said low force end effector interface for reacting to loads applied to said low force end effector interface for generating corresponding output signals.

18. An isolated force/torque sensor assembly as set forth in claim 17 wherein said gripping portion is generally cylindrical in shape.

19. An isolated force/torque sensor assembly as set forth in claim 17 wherein said gripping portion, said shaft portion, and said low force end effector interface are integral and one-piece.

20. An isolated force/torque sensor assembly as set forth in claim 17 wherein said high force end effector interface is adapted to be mechanically grounded to the arm of the robot.

21. An isolated force/torque sensor assembly as set forth in claim 17 wherein said beams are flexible.

Assignees

• Stryker Corp

Inventors

• Malackowski Donald W
• Deluca Richard T

Classifications

• B25J13/085 Primary

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

• 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

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title