Sensor and Compliant Devices for Robotic Fingers
Original Publication Date: 1981-Jun-01
Included in the Prior Art Database: 2005-Feb-12
Sensor structures are described that are useful in a computer-controlle robotic manipulator system, such as that described in U.S. Patent 4,132,318. That patent, as well as U.S. Patent 3,948,093, describes the control of linear movement of a manipulator arm and rotational movement in various directions of a hand or gripper incorporated as an integral part of the manipulator arm, the gripper comprising a pair of fingers. Sensor devices including compliant I-beam (dog-bone) elements, strain gauges, and Wheatstone bridge circuitry, are provided in the patented devices to supply feedback signals representative of forces and movements applied in predetermined directions on the fingers.