A piezoelectric sensor includes an elastic body having a first surface, a regulatory section which is disposed at a position where the regulatory section faces the first surface of the elastic body, and which is configured to limit a deformation of the elastic body, and a first piezoelectric element which is partially fixed to the regulatory section, and which deforms in accordance with the deformation of the elastic body, wherein the first piezoelectric element outputs a voltage signal which increases and decreases from a reference voltage in accordance with a direction of the deformation.

A piezoelectric sensor includes an elastic body, a piezoelectric element which is disposed at a position where the piezoelectric element has contact with the elastic body, and which is configured to output a voltage signal when deforming in accordance with a deformation of the elastic body, and a detector configured to detect the voltage signal output from the piezoelectric element, wherein the detector detects kinetic frictional force generated between the object and the elastic body based on a variation in the voltage signal due to the relative movement of the object to the elastic body.

Waveguides, such as light guides, made entirely of elastomeric material or with indents on an outer surface are disclosed. These improved waveguides can be used in scissors, soft robotics, or displays. For example, the waveguides can be used in a strain sensor, a curvature sensor, or a force sensor. In an instance, the waveguide can be used in a hand prosthetic. Sensors that use the disclosed waveguides and methods of manufacturing waveguides also are disclosed.

A dual mounted end-effector system mounted on a motive robot arm for preparing an object surface is described. The system includes a first tool configured to contact and prepare the object surface and a second tool configured to contact and prepare the object surface. The system also includes a force control. The force control is configured to align, in a first state, with the first tool in position to contact and prepare the object surface and, in a second state, with the second tool in a position to contact and prepare the object surface.

A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals. A handling glove (40) and handling device implementing the method.

A grinding apparatus including a robot, a grinding tool attached to the robot, a force sensor configured to detect a force exerted on the grinding tool, and a controller connected with the force sensor and configured to control the robot. The controller includes a variation acquiring section configured to acquire the present position of the robot by pressing the grinding tool against a reference surface in such a manner that a pressing force detected by the force sensor is constant, and to acquire a difference between the acquired present position and a reference position of the robot stored in advance, the difference being acquired as a variation of the grinding tool.

A robotic arm comprising an operation end, a base, a sensor unit and a control unit is provided. The operation end is connected to the base, and the operation end is configured to reach an operational area. The sensor unit provides a sensor signal according to the force applied by or the motion of an operator. When the operation end reaches the operational area, the control unit sets a fixed position on the robotic arm between the base and the operation end. When the sensor signal from the operator fulfills a default condition, the control unit moves the robotic arm away from the operator, without moving the fixed position on the robotic arm.

An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.

A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.