Sarcos Lc

Sarcos Group

Stephen L Jacobsen

David L Wells

A sensor system for sensing movement comprises a rod anchored at one end to a base and plurality of strain gauges circumferentially disposed about the rod. The free end of the rod may be subject to forces in various directions. The strain gauges produce signals whose magnitudes are an indication of the degree of strain occurring at the location of the strain gauges. The use of three or more strain gauges spaced circumferentially about the rod provide both direction and degree of bend of the rod.

Movement actuator/sensor systems

Controlled bending movement of a flexible elongate rod or filament in response to a bend signal indicative of a desired amount of bending is effected by a strip of shape-changing material disposed on a first side of an elongate rod element, the shape changing material changing shape in response to an actuation signal, thereby causing the filament element to bend, and a sensor including a strain gauge disposed on the rod element on a second side opposite the first side, said sensor sensing the amount of bend in the rod element from strain indicated, and a feedback control comparing the amount of bend of the filament sensed to a desired amount of bend defined by said bend signal and altering the actuation signal as required to make the amount of bend sensed the same as the amount of bend desired.

Controlled bending actuator system

A movement actuator includes an elongate filament made of a flexible material, and a strip of shape memory alloy disposed on the surface of one side of the filament. The shape memory alloy is responsive to actuation signals, heat or electrical signals, for changing its shape and when its shape changes, it causes the filament to move, i.e., bend, to accommodate the change in shape of the alloy. Also included is a signal supply device for selectively applying heat signals or electrical current to the strip of shape memory alloy to cause the alloy to change its shape and cause the filament to bend. Other patterns for the shape memory alloy could be disposed on the filament to cause other kinds of movements. For example, a helical pattern of the shape memory alloy about the filament would cause the filament to twist when the helical pattern were caused to shorten or lengthen.

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Salt Lake City, UT, United States of America

Stephen L Jacobsen