X Development LLC

Verily Life Sciences LLC

Adam Reich

Emily B Cooper

Alex Shafer

Stephen Duane Dorow

Jeffrey Bingham

Rob Wilson

John A Redmond

An electronic assembly includes a casing to conduct electricity flowing between at least some electronic components disposed within the casing. The electronic components include an ultrasonic transducer coupled to emit ultrasonic signals, and a battery to provide the electricity. A controller is coupled to the ultrasonic transducer and the battery, and the controller includes logic that when executed by the controller causes the electronic assembly to perform operations, including: instructing the ultrasonic transducer to emit the ultrasonic signals.

Electronic assembly including an ultrasonic transducer

A plunger head to measure fluid in a drug cartridge includes a transducer coupled to emit ultrasonic signals, and a power source. A controller is coupled to the transducer and the power source, and the controller includes logic that when executed by the controller causes the plunger head to perform operations. For example the plunger head may emit the ultrasonic signals along a length of the drug cartridge, when the plunger head is disposed in the drug cartridge, and receive the ultrasonic signals after the ultrasonic signals are reflected from a dispensing end of the drug cartridge. The plunger head may then determine when the ultrasonic signals received by the transducer have an absolute value of amplitude greater than a first threshold value, and associate a timestamp with the ultrasonic signals received that have the absolute value of amplitude greater than the first threshold value.

Waveform reconstruction for ultrasound time of flight measurements

The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

Retroreflective multi-axis force torque sensor

An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.

Unibody flexure design for displacement-based force/torque sensing

An example device includes a first flexural element, a second flexural element, a first rigid component and a second rigid component. The rigid components have a fixed height that axially offsets the first flexural element from the second flexural element. The first rigid component is coupled to the first flexural element at one or more connection points on a first plane and coupled to the second flexural element at one or more connection points on a second plane. The second rigid component is coupled to the first flexural element at one or more other connection points on the first plane and coupled to the second flexural element at one or more other connection points on the second plane.

Flexure assembly for force/torque sensing

An example device includes a flexural element, a bendable carrier element, and a plurality of strain gages. The flexural element includes a plurality of surfaces, such as a planar surface and a perimeter surface. The bendable carrier element is shaped in order to conform to the plurality of surfaces of the flexural element when the carrier element is bent around the flexural element. The plurality of strain gages are attached to the carrier element when the carrier element is flat. Furthermore, the plurality of strain gages are positioned along the plurality of surfaces of the flexural element when the carrier element is bent around the flexural element to conform to the plurality of surfaces of the flexural element and the carrier element is attached to the flexural element.

Compound strain gage carrier for multi-axis force/torque sensing

Examples are provided that describe calibration of a sensor of a robotic device. In one example, a system includes least one processor and data storage comprising instructions executable by the at least one processor to cause the system to perform operations. The operations include simulating a movement of a robotic component of a robotic device to a plurality of positions. The operations may also include determining a relationship between a simulated torque values and simulated force values at the plurality of positions. The operations may also include determining expected torque values based on detected force values and the determined relationship. Based on the expected torque values satisfying a threshold associated with the simulated torque values, determining a plurality of calibration parameters of the one or more sensors according to the optimization.

Growing community of inventors

Oakland, CA, United States of America

Adam Reich