Other

Meka Robotics, LLC

Andy Metzger

Aaron Ladd Edsinger

Jeff Anthony Weber

Example embodiments may relate to a compliant force sensor used in actuated and non-actuated systems. For instance, a structure (e.g., a transmission) may be configured to receive a force based on application of a load to the structure. A rigid member may be coupled to the structure and configured to provide a first deformation based on application of the load to the structure and transfer of the force to the rigid member. An elastic element may provide compliance and may be connected to the rigid member such that the rigid member is configured to further transfer the force to the elastic element. The elastic member may be configured to provide a second deformation under application of the load that is larger than the first deformation. A sensor may be positioned on the rigid member and configured to measure the first deformation independent of hysteresis and non-linearity in the elastic element.

Compliant force sensor for robot actuation

Example embodiments may relate to a series elastic actuator (SEA). The SEA may include a motor, a transmission assembly, and an output plate that collectively form a motor housing assembly. The motor housing assembly may be supported on bearings that allow for a rotation of the motor housing assembly. The bearings may be supported on a housing of the SEA that may be connected to a robot link. Springs may be connected between the housing and the transmission assembly. The springs may be connected such that friction is reduced between the balls and races of the bearings. A sensor may be configured to measure a rotary deflection of the transmission assembly. A string may be wrapped around a rotary shaft of the sensor and ends of the string may be attached to the transmission assembly such that a rotation of the transmission assembly causes a rotation of the rotary shaft.

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San Francisco, CA, United States of America

Andy Metzger