Matthew E Shaffer

US Patent:

20200306979, Oct 1, 2020

Filed:

Mar 27, 2020

Appl. No.:

16/832755

Inventors:

- Palo Alto CA, US
Clinton J. Smith - San Francisco CA, US
Christopher Lalau Keraly - San Francisco CA, US
Matthew E. Shaffer - Menlo Park CA, US
Bernard D. Casse - Saratoga CA, US

Assignee:

Robotik Innovations, Inc. - Palo Alto CA

International Classification:

B25J 9/16
G01L 1/16
G01L 1/18
G01L 1/22
G01L 1/14
G01H 11/08
G01K 7/16
G01D 5/24

Abstract:

A flex-rigid sensor apparatus for providing sensor data from sensors disposed on an end-effector/gripper to the control circuit of an arm-type robotic system. The apparatus includes piezo-type pressure sensors sandwiched between lower and upper PCB stack-up structures respectively fabricated using rigid PCB (e.g., FR-4) and flexible PCB (e.g., polyimide) manufacturing processes. Additional (e.g., temperature and proximity) sensors are mounted on the upper/flexible stack-up structure. A spacer structure is disposed between the two stack-up structures and includes an insulating material layer defining openings that accommodate the pressure sensors. Copper film layers are configured to provide Faraday cages around each pressure sensor. The pressure sensors, additional sensors and Faraday cages are connected to sensor data processing and control circuitry (e.g., analog-to-digital converter circuits) by way of signal traces formed in the lower and upper stack-up structures and in the spacer structure. An encapsulation layer is formed on the upper PCB stack-up structure.

US Patent:

20200306986, Oct 1, 2020

Filed:

Mar 27, 2020

Appl. No.:

16/832690

Inventors:

- Palo Alto CA, US
Clinton J. Smith - San Francisco CA, US
Christopher A. Paulson - Redwood City CA, US
Bernard D. Casse - Saratoga CA, US
Matthew E. Shaffer - Menlo Park CA, US

Assignee:

Robotik Innovations, Inc. - Palo Alto CA

International Classification:

B25J 13/08
B25J 19/02
B25J 9/16
B25J 15/02
B25J 13/02
H01R 12/71
G06F 13/42
H05K 1/18

Abstract:

A human-like tactile perception apparatus for providing enhanced tactile information (feedback data) from an end-effector/gripper to the control circuit of an arm-type robotic system. The apparatus's base structure is attached to the gripper's finger and includes a flat/planar support plate that presses a pressure sensor array against a target object during operable interactions. The pressure sensor array generates pressure sensor data that indicates portions of the array contacted by surface features of the target object. A sensor data processing circuit generates tactile information in response to the pressure sensor data, and then transmits the tactile information to the robotic system's control circuit. An optional mezzanine connector extends through an opening in the support plate to pass pressure sensor data to the processing circuit. An encapsulating layer covers the pressure sensor array and transmits pressure waves generated by slipping objects to enhance the tactile information.

US Patent:

20200306993, Oct 1, 2020

Filed:

Mar 27, 2020

Appl. No.:

16/832800

Inventors:

- Palo Alto CA, US
Christopher A. Paulson - Redwood City CA, US
Christopher Lalau Keraly - San Francisco CA, US
Matthew E. Shaffer - Menlo Park CA, US
Bernard D. Casse - Saratoga CA, US

Assignee:

Robotik Innovations, Inc. - Palo Alto CA

International Classification:

B25J 15/02
B25J 9/00
B25J 9/16
B25J 13/08
B25J 19/02
B25J 15/08

Abstract:

A robotic gripper (end effector) for an arm-type robotic system includes a hierarchical sensor architecture that utilizes a central data processing circuit to generate rich sensory tactile data in response to pressure, temperature, vibration and/or proximity sensor data generated by finger-mounted sensor groups in response to interactions between the robotic gripper and a target object during robotic system operations. The rich sensory tactile data is used to generate feedback signals that directly control finger actuators and/or tactile information that is supplied to the robotic system's control circuit. Sensor data processing circuits are configured to receive single-sensor data signals in parallel from the sensor groups, and to transmit corresponding finger-level sensor data signal on a serial bus/signal line to the central data processing circuit. Each sensor group and an associated sensor data processing circuit are disposed on a PCB structure and mounted on a contact portion of an associated gripper finger.

US Patent:

20200094412, Mar 26, 2020

Filed:

Sep 17, 2019

Appl. No.:

16/573811

Inventors:

- Palo Alto CA, US
Clinton J. Smith - San Francisco CA, US
Christopher Lalau Keraly - San Francisco CA, US
Matthew E. Shaffer - Menlo Park CA, US
Christopher A. Paulson - Redwood City CA, US

Assignee:

Robotik Innovations Inc. - Palo Alto CA

International Classification:

B25J 9/16
B25J 9/04

Abstract:

A multimodal sensing architecture utilizes an array of single sensor or multi-sensor groups (superpixels) to facilitate advanced object-manipulation and recognition tasks performed by mechanical end effectors in robotic systems. The single-sensors/superpixels are spatially arrayed over contact surfaces of the end effector fingers and include, e.g., pressure sensors and vibration sensors that facilitate the simultaneous detection of both static and dynamic events occurring on the end effector, and optionally include proximity sensors and/or temperature sensors. A readout circuit receives the sensor data from the superpixels and transmits the sensor data onto a shared sensor data bus. An optional multimodal control generator receives and processes the sensor data and generates multimodal control signals that cause the robot system's control circuit to adjust control operations performed by the end effector or other portions of the robot mechanism and when the sensor data indicates non-standard operating conditions.