Measuring and testing – Dynamometers – Responsive to torque
Patent
1991-10-18
1993-03-16
Goldstein, Herbert
Measuring and testing
Dynamometers
Responsive to torque
73862321, G01L 302
Patent
active
051934019
ABSTRACT:
An apparatus for direct measurement of torque in an articulated joint includes a driver assembly, a driven assembly with said driver assembly and driven assembly mounted on a common axis, for enabling angular displacement of the driven assembly relative to said driver assembly about said common axis. An interlock is provided and is responsive to a remote actuator, for rotating said driven assembly relative to said driven assembly, and at least one force sensor is disposed in a position for transmitting rotational force from said interlock to said driven assembly, for measuring said rotational force in order to provide a torque measurement.
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Oomichi et al, Robotics Research 1988, "Mechanics & Mutiple Sensory Bilateral Control of a Fingered Manipulator", p. 149.
Palm, International Encyclopedia of Robots, 1988, "Hands", p. 627.
Salisbury et al, Experimental Robotics I, 1990, "Determination of Manipulator Contact Information from Joint Torque Measurements", p. 472.
Vischer et al, Experimental Robotics I, 1990, "Design & Development of Torque-Controlled Joints", pp. 281-283.
Goldstein Herbert
Hackler Walter A.
Shopbell Elizabeth L.
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