Multimodal sensor array for robotic systems

US11273555B2 · kind B2 · utility

Assignee

• RIOS Intelligent Machines, Inc.

Inventors

• Bernard D. Casse · Saratoga, US
• Clinton Smith · San Francisco, US
• Christopher Lalau Keraly · San Francisco, US
• Matthew E. Shaffer · Menlo Park, US
• Christopher A. Paulson · Redwood City, US

Key dates

• Filing date: Sep 17, 2019
• Grant date: Mar 15, 2022
• Expiry date: May 6, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40567
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A multimodal sensing architecture utilizes an array of single sensor or multi-sensor groups (superpixels) to facilitate advanced object-manipulation and recognition tasks performed by mechanical end effectors in robotic systems. The single-sensors/superpixels are spatially arrayed over contact surfaces of the end effector fingers and include, e.g., pressure sensors and vibration sensors that facilitate the simultaneous detection of both static and dynamic events occurring on the end effector, and optionally include proximity sensors and/or temperature sensors. A readout circuit receives the sensor data from the superpixels and transmits the sensor data onto a shared sensor data bus. An optional multimodal control generator receives and processes the sensor data and generates multimodal control signals that cause the robot system's control circuit to adjust control operations performed by the end effector or other portions of the robot mechanism and when the sensor data indicates non-standard operating conditions.