System and method for robust and low-cost multi-axis force sensor
US11504194B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 13, 2017 |
| Grant date | Nov 22, 2022 |
| Priority date | — |
| Expiry date | Dec 15, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2562/0219
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Systems and methods according to present principles provide for three axis force sensing in a convenient and manufacturable way. In one implementation, a vibrating motor is attached at the fixed end of an anisotropic structure, such as a rod, which then vibrates in a circular motion. A monitor such as a 3-axis accelerometer is also attached to the anisotropic structure. The resulting motion is then mapped electronically for analysis. With no force applied, a circular motion is achieved. When a net force is applied to the free, vibrating end of the rod, the circular pattern which is traced out becomes distorted, e.g., progressively flattened into an ellipse, in a repeatable way which is directly proportional to the applied force. The axis of the applied force can be ascertained according to the direction in which the ellipse forms. Systems and methods according to present principles may be used in any application in which force sensing is needed, e.g., robotics, including robotic surgery.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.