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1. 发明授权

US4588348A Robotic system utilizing a tactile sensor array 失效
标题翻译：使用触觉传感器阵列的机器人系统
公开(公告)号：US4588348A
公开(公告)日：1986-05-13
申请号：US498908
申请日：1983-05-27
申请人： Gerardo Beni , Susan Hackwood , Lawrence A. Hornak
发明人： Gerardo Beni , Susan Hackwood , Lawrence A. Hornak
IPC分类号： G01V9/00 , B25J9/10 , B25J13/08 , B25J15/08 , B25J19/02 , G01L5/22 , G01R33/02 , G01V3/00 , G01V3/08 , B66C1/42
CPC分类号： G01V3/08 , B25J13/082 , G01L5/228 , Y10S294/907
摘要： A movable part of a robot, such as the fingers of the robot hand, are provided with an array of tactile elements mounted on a substrate. Each element includes a magnetic dipole embedded in a compliant medium on one side of the substrate and a magnetic sensor on the other side of the substrate. The dipole and sensor are in parallel planes. A force or torque deforms the compliant medium and displaces the magnetic dipoles with respect to the sensor. The sensor detects the change in magnetic field and produces an electrical signal which is used to control the robot. Magnetoresistive sensors are preferred. To detect torque, each element illustratively includes four sensors arranged at 90.degree. to one another and a magnetic dipole oriented at 45.degree. to each sensor. Also described is the handling of objects by a robot having such a tactile array in its gripper or hand, and the use of a robot to bring an object into contact with such a tactile array mounted, for example, on a table top, thereby enabling pattern recognition functions.
摘要翻译：诸如机器人手的手指的机器人的可移动部分设置有安装在基板上的触觉元件阵列。每个元件包括嵌入在衬底的一侧上的柔性介质中的磁偶极子和在衬底的另一侧上的磁传感器。偶极子和传感器处于平行平面。力或扭矩使柔性介质变形并使磁偶极相对于传感器移位。传感器检测磁场的变化，产生用于控制机器人的电信号。优选磁阻传感器。为了检测扭矩，每个元件说明性地包括以90度相互排列的四个传感器以及以每个传感器45度取向的磁偶极子。还描述了通过在其夹持器或手中具有这样的触觉阵列的机器人处理物体，以及使用机器人使物体与例如安装在台面上的这样的触觉阵列接触，从而使得模式识别功能。

2. 发明授权

US4541771A Robot having magnetic proximity sensor and manufacturing method using same 失效
标题翻译：具有磁接近传感器的机器人及其制造方法
公开(公告)号：US4541771A
公开(公告)日：1985-09-17
申请号：US480826
申请日：1983-03-31
申请人： Gerardo Beni , Susan Hackwood , Lawrence A. Hornak
发明人： Gerardo Beni , Susan Hackwood , Lawrence A. Hornak
IPC分类号： B25J13/08 , B25J15/02 , B25J19/02 , B25J17/02
CPC分类号： B25J19/027 , B25J15/0266 , Y10S294/907
摘要： Described is a robot having a proximity sensor which is based on the reentrant-loop magnetic effect. In one embodiment this sensor in a robot hand can detect the position and orientation of magnetized objects within about a 5 cm range, independently of the speed of approach.
摘要翻译：描述的是具有基于可重入环磁效应的接近传感器的机器人。在一个实施例中，机器人手中的该传感器可以独立于接近速度来检测磁化物体在约5cm范围内的位置和取向。

3. 依法登记的发明

USH65H Dynamic optical sensing: Robotic system and manufacturing method utilizing same 失效
公开(公告)号：USH65H
公开(公告)日：1986-05-06
申请号：US498881
申请日：1983-05-27
申请人： Gerard Beni , Susan Hackwood , Lawrence A. Hornak , Janet L. Jackel
发明人： Gerard Beni , Susan Hackwood , Lawrence A. Hornak , Janet L. Jackel
IPC分类号： G01B11/00 , B25J13/08 , B25J15/08 , B25J19/02 , B25J19/04 , G01B11/02
CPC分类号： B25J13/082 , B25J19/021
摘要： Two opposing fingers of a robot hand are each provided with an array of optical devices which are capable of being in optical communication with one another through the gap between the fingers. One finger is provided with an array of light emitters and the other is provided with an array of light recepetors. By taking advantage of the motion of the robot hand and the small size of the optical devices, the shape of an object between the fingers can be detected by using at least one linear set, and preferably at least two linear sets, of devices in each array. Illustratively, the linear sets form a T-shaped array or a U-shaped array and are disposed along the edges of the fingers. In one embodiment the emitters are GRIN rod lenses coupled through a fiber cable to a light source, and the receptors are also GRIN rod lenses coupled through a fiber cable to a camera system. A manufacturing method utilizing such a sensor to identify the shape of objects is also described.

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