Abstract: Various embodiments of a torque cell including a flexure element and sensor assembly are disclosed. A flexure element includes an inner ring, an outer ring, and a plurality of beams arranged symmetrically and extending radially connecting the inner ring to the outer ring. Each beam has a first surface, a second surface, and a recessed portion. The recessed portion having a recessed surface recessed from the first surface of the beam with an extent of the recessed surface of the recessed portion having a planar gauge portion that is substantially parallel with a plane perpendicular to a central axis of the flexure element. Each planar gauge portion of the plurality of beams are in the same plane. The sensor assembly including a plurality of strain gauges affixed to the beams within the planar gauge portion and a measurement circuit coupled to the plurality of strain gauges.

Abstract: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an arm assembly coupled to the torso, and an end effector coupled to the arm assembly at a distal end of the arm assembly. The end effector has a palmer side and a dorsal side and includes a thumb assembly having at least three degrees of freedom, a first finger assembly having at least two degrees of freedom, and a vision sensor coupled to a portion of the end effector. The vision sensor is configured to have a field of view that includes a majority of the palmer side of said end effector, and whereby said field of view enables the vision sensor to detect information about contact between an object and one or more of: (i) an extent of the thumb assembly, and (ii) an extent of the first finger assembly.

Abstract: The present disclosure provides a bipedal robot comprising a torso, head, arm assembly, and end effector. The end effector includes a thumb assembly with at least three degrees of freedom, a first finger assembly with at least two degrees of freedom, a vision sensor positioned between the arm assembly's distal end and first finger assembly, and an illumination source. The illumination source illuminates the field of view between the vision sensor and the thumb and first finger assembly extents when the robot is extended. The vision sensor's field of view includes most of the end effector's palmer side, enabling detection of contact information between objects and the thumb assembly and first finger assembly extents.

Abstract: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an articulated arm coupled to torso, and an end effector coupled to the articulated arm and comprising a tactile sensor assembly. The tactile sensor assembly includes a bridge comprising a base section and three flexure arms, wherein each flexure arm includes a sloped section extending from the base section at a first non-zero angle and a load section extending from the sloped section at a second non-zero angle. A strain gauge is coupled to the sloped section of each flexure arm. The tactile sensor assembly includes an electronics assembly communicatively coupled to each strain gauge and configured to process data received from each strain gauge.

Abstract: A crank measurement system includes four bend-sensing strain gauges located on one surface of a crank and oriented parallel to a neutral axis of the crank to sense bend strain induced in the crank. Two of the bend-sensing strain gauges are located above the neutral axis, and the other two bend-sensing strain gauges are located below the neutral axis. The system also includes two shear-sensing strain gauges located on the one surface and oriented to sense shear strain induced in the crank. The shear-sensing strain gauges are located on opposite sides of the neutral axis. The system may also include up to four axial-sensing strain gauges located on the one surface and oriented to sense axial strain induced in the crank. An electronics module receives strain data from the strain gauges, and determines from the strain data one or more of force, torque, and power applied to the crank.

Abstract: An adhesively coupled power-meter measures one or more of force, torque, power, and velocity of a mechanical arm. The power meter includes a plate with a first surface prepared for adhesively coupling to the mechanical arm. At least one strain gauge is physically coupled with a second surface, opposite the first, of the plate and with an orientation corresponding to an orientation of the adhesively coupled power meter such that mechanical forces are transferred from mechanical arm to the at least one strain gauge when the plate is adhesively coupled to the mechanical arm. The power meter also includes electronics for receiving a signal from the at least one strain gauge and for determining one or more of force, torque, power and velocity from the signal, and a wireless transmitter for transmitting one or more of force, torque, power and velocity to a receiving device.

Abstract: A crank power measurement system measures one or more of force, torque, power, and velocity of the crank, and includes a crank, two or more strain gauges located on a surface of the crank, and electronics for receiving strain data from the two or more strain gauges and determining at least one or more of bend-strain, shear-strain, and axial strain. A bicycle crank mounted power generator generates power when the bicycle is being ridden by a user, and includes a base ring, with a plurality of magnets, attached to a frame of the bicycle and circling a bottom bracket attached to a crank, a coil system attached to the crank adjacent to the plurality of magnets to generate an output at leads of the coil, and electronics configured to manipulate the output to power an electronic device and/or store the output in a power supply.

Abstract: An adhesively coupled power-meter measures one or more of force, torque, power, and velocity of a mechanical arm. The power meter includes a plate with a first surface prepared for adhesively coupling to the mechanical arm. At least one strain gauge is physically coupled with a second surface, opposite the first, of the plate and with an orientation corresponding to an orientation of the adhesively coupled power meter such that mechanical forces are transferred from mechanical arm to the at least one strain gauge when the plate is adhesively coupled to the mechanical arm. The power meter also includes electronics for receiving a signal from the at least one strain gauge and for determining one or more of force, torque, power and velocity from the signal, and a wireless transmitter for transmitting one or more of force, torque, power and velocity to a receiving device.

Abstract: An adhesively coupled power-meter measures one or more of force, torque, power, and velocity of a mechanical arm. The power meter includes a plate with a first surface prepared for adhesively coupling to the mechanical arm. At least one strain gauge is physically coupled with a second surface, opposite the first, of the plate and with an orientation corresponding to an orientation of the adhesively coupled power meter such that mechanical forces are transferred from mechanical arm to the at least one strain gauge when the plate is adhesively coupled to the mechanical arm. The power meter also includes electronics for receiving a signal from the at least one strain gauge and for determining one or more of force, torque, power and velocity from the signal, and a wireless transmitter for transmitting one or more of force, torque, power and velocity to a receiving device.

Abstract: An adhesively coupled power-meter measures one or more of force, torque, power, and velocity of a mechanical arm. The power meter includes a plate with a first surface prepared for adhesively coupling to the mechanical arm. At least one strain gauge is physically coupled with a second surface, opposite the first, of the plate and with an orientation corresponding to an orientation of the adhesively coupled power meter such that mechanical forces are transferred from mechanical arm to the at least one strain gauge when the plate is adhesively coupled to the mechanical arm. The power meter also includes electronics for receiving a signal from the at least one strain gauge and for determining one or more of force, torque, power and velocity from the signal, and a wireless transmitter for transmitting one or more of force, torque, power and velocity to a receiving device.