A robot system comprising movable parts, a casing element, a force limiting sensor, a joint position sensor, and one or more processors, wherein the casing element comprises a vibration actuator. Multiple embodiments are introduced for the implementation of the casing element include haptic warning and proximity sensing. Furthermore, means to use the casing element to guide the robot and generate haptic effect by the vibration actuator to assist the user in a human-robot collaboration and/or guiding function are also disclosed.

To prevent scattering of scattered objects such as of water, sand, mud, or snow accompanied by movement.

Scattering prevention constraint information is acquired based on road surface information. Movement is controlled based on the scattering prevention constraint information. For example, vibration information is detected by a vibration sensor or the like, and road surface information (information such as a road surface depth and a road surface type) is acquired based on the vibration information.

A tactile sensor including a camera positioned to capture images of marks. An elastically deformable skin including an outer surface having attributes and an undersurface having pins, ridges, or both. Each undersurface pin or ridge includes a mark. A processor detects displacement of the marks in captured images and compares the displaced positions of the marks in the captured images to stored sets of prelearned positions of marks, based on a distance function, to determine a quality of match value for each set of the prelearned positions of marks. A best quality matched prelearned pattern of forces is determined using a user selected function, to calculate a best matching set of the prelearned positions of marks. Identify a pattern of forces acting on the elastically deformable skin based on the determined best matched prelearned pattern of forces.

A robot control system includes a control device for controlling a robot and a portable operating panel connected to the control device. The portable operating panel and at least one other device include contact points connected in series. The control device includes a reception circuit that can detect the opening of at least one of the contact points. The portable operating panel includes a smart device having a sensor. The contact point included in the portable operating panel is opened and closed in conjunction with a physical movement of a switch member attached to an exterior of the smart device. The sensor can detect a physical quantity that changes in conjunction with the physical movement of the switch member. The portable operating panel transmits, to the control device, a detection signal indicating the physical quantity detected by the sensor or information about the physical quantity.

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 robot skin apparatus includes polymer membranes encapsulating a pressure sensor. The sensor includes piezo-sensitive material in contact with a pair of electrodes in spaced relationship to form a circuit. The apparatus may include a flexible substrate, with the electrodes thereon. The piezo-sensitive material may be piezoresistive film. The electrodes may be symmetrically patterned on the substrate to form a substantially circular peripheral boundary. The apparatus may include pressure sensors on opposite sides of a plane for temperature compensation, a plurality of pressure sensors arrayed on the substrate, and a data acquisition system. A method of fabricating the apparatus includes a wet lithography process for patterning the piezoresistive film. A system includes a pair of gripper fingers, an actuator connected to the fingers, a robot skin apparatus positioned on one of the fingers, and an electronic unit for receiving data from the robot skin and controlling the fingers.

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.

A system for calibrating a deformable sensor is provided. The system includes a deformable sensor including a housing, a deformable membrane coupled to an upper portion of the housing, and an enclosure defined by the housing and the deformable member; an imaging sensor configured to capture an image of the deformable membrane of the deformable sensor; and a controller. The enclosure is configured to be filled with a medium. The controller is configured to: receive the image of the deformable membrane of the deformable sensor; determine whether a contour of the deformable membrane in the image of the deformable membrane of the deformable sensor corresponds to a predetermined contour; and adjust a volume of the medium in the enclosure of the deformable sensor in response to the determination that the contour of the deformable membrane is different from the predetermined contour.

A gripper jaw to grip an object, the jaw having a gripping surface with a recess therein, the jaw including: a tactile sensor with a sensor surface and a sensor thickness integrated in the recess in a z-direction, wherein the sensor includes: a base arranged lowermost in the recess, a sensor array arranged on the base with a plurality of taxels being sensitive elements arranged over an area of the base, the taxels configured to detect externally applied forces along the z-direction, wherein each taxel is reversibly deformable, and an elastic layer arranged above and overlapping the array, the layer acting as a mechanical low-pass filter and, in an unloaded state, having a layer thickness, wherein an outwardly facing surface of the layer forms a partial area of the sensor surface, wherein the sensor integrated in the recess projects with the sensor surface beyond the gripping surface in the z-direction.

Provided is an automotive glass setting apparatus, including a setting base supporting a glass having a plurality of edges, a plurality of alignment units allowing the glass to be aligned with the setting base; a scanning unit scanning the edges of the glass, a plurality of moving mechanisms moving the plurality of alignment units, and a controller controlling the moving mechanisms based on data scanned by the scanning unit to align a center of the glass with a center of the setting base.