IP Library › Granted Patent US 12,427,671
Granted Patent B2
US 12,427,671 · App. 18/673,995 · Granted Sep 30, 2025

Systems and methods for providing contact detection in an articulated arm

Inventors: Thomas Wagner (Concord, MA); Kevin Ahearn (Nebo, NC); Michael Dawson-Haggerty (Pittsburgh, PA); Christopher Geyer (Arlington, MA); Thomas Koletschka (Somerville, MA); Kyle Maroney (Saunderstown, RI); Matthew T. Mason (Atlanta, GA); Gene Temple Price (Somerville, MA); Joseph Romano (Arlington, MA); Daniel Carlton Smith (Wexford, PA); Siddhartha Srinivasa (Seattle, WA); Prasanna Velagapudi (Pittsburgh, PA); Thomas Allen (Reading, MA)
Assignee: Berkshire Grey Operating Company, Inc.
B25J9/1694B25J9/1638B25J13/088B25J15/0616B25J17/0208
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Quick Facts
Patent No.
US 12,427,671
App. No.
18/673,995
Granted
Sep 30, 2025
Kind
B2
Abstract

A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

Claims (30)

1. A programmable motion system including an end-effector attached to an attachment portion of a programmable motion device, the end-effector including at least one contact surface for contacting an object, a compliant section between the at least one contact surface and the attachment portion of the programmable motion device, and a movement detection system that extends at least partially distal of the attachment portion for detecting movement in three mutually orthogonal degrees of freedom of the at least one contact surface with respect to the attachment portion of the programmable motion device via the compliant section.

2. The system as claimed in claim 1 , wherein the movement of the at least one contact surface with respect to the attachment portion of the programmable motion device detects movement in any of load, pitch, roll and yaw.

3. The system as claimed in claim 1 , wherein the compliant section is provided as a vacuum cup at the attachment portion of the programmable motion device.

4. The system as claimed in claim 3 , wherein the vacuum cup is provided with a vacuum at an opening of the vacuum cup that is in communication with a vacuum source.

5. The system as claimed in claim 4 , wherein the at least one contact surface is provided as a rim of the vacuum cup that contacts the object.

6. The system as claimed in claim 1 , wherein the end-effector includes a plurality of mutually opposing grippers, and wherein the movement detection system is distal of the compliant section.

7. The system as claimed in claim 6 , wherein the at least one contact surface is provided by at least one of the plurality of mutually opposing grippers.

8. The system as claimed in claim 1 , wherein the movement detection system includes at least one magnetic field sensor.

9. The system as claimed in claim 7 , wherein the movement detection system includes one of a magnet and a magnetic field sensor on each of the plurality of mutually opposing grippers.

10. The system as claimed in claim 9 , wherein the at least one contact surface is adjacent the movement detection system.

11. A programmable motion system including an end-effector attached to an attachment portion of a programmable motion device, the end-effector including at least one contact surface for contacting an object, a compliant section between the at least one contact surface and the attachment portion of the programmable motion device, and a movement detection system that extends at least partially distal of a proximal end of the compliant section for detecting movement in three mutually orthogonal degrees of freedom of the at least one contact surface with respect to the attachment portion of the programmable motion device via the compliant section.

12. The system as claimed in claim 11 , wherein the movement of the at least one contact surface with respect to the attachment portion of the programmable motion device detects movement in any of load, pitch, roll and yaw.

13. The system as claimed in claim 11 , wherein the compliant section is provided as a vacuum cup at the attachment portion of the programmable motion device.

14. The system as claimed in claim 13 , wherein the vacuum cup is provided with a vacuum at an opening of the vacuum cup.

15. The system as claimed in claim 14 , wherein the at least one contact surface is provided as a rim of the vacuum cup that contacts the object.

16. The system as claimed in claim 11 , wherein the end-effector includes a plurality of mutually opposing grippers, and wherein the movement detection system is distal of the compliant section.

17. The system as claimed in claim 16 , wherein the at least one contact surface is provided by at least one of the plurality of mutually opposing grippers.

18. The system as claimed in claim 11 , wherein the movement detection system includes at least one magnetic field sensor.

19. The system as claimed in claim 17 , wherein the movement detection system includes one of a magnet and a magnetic field sensor on each of the plurality of mutually opposing grippers.

20. The system as claimed in claim 19 , wherein the at least one contact surface is adjacent the movement detection system.

21. A programmable motion system including an end-effector attached to an attachment portion of a programmable motion device, the end-effector including at least one contact surface for contacting an object, a compliant section between the at least one contact surface and the attachment portion of the programmable motion device, the at least one contact surface including a proximal end closer to the attachment portion and a distal end, and a movement detection system that extends at least partially distal of the proximal end of the compliant section for detecting any of any of load, pitch, roll and yaw of the at least one contact surface with respect to the attachment portion of the programmable motion device via the compliant section.

22. The system as claimed in claim 21 , wherein the movement of the at least one contact surface with respect to the attachment portion of the programmable motion device detects movement in each of load, pitch, roll and yaw.

23. The system as claimed in claim 21 , wherein the compliant section is provided as a vacuum cup at the attachment portion of the programmable motion device.

24. The system as claimed in claim 23 , wherein the vacuum cup is provided with a vacuum at an opening of the vacuum cup that is in communication with a vacuum source.

25. The system as claimed in claim 24 , wherein the at least one contact surface is provided as a rim of the vacuum cup that contacts the object.

26. The system as claimed in claim 21 , wherein the end-effector includes a plurality of mutually opposing grippers, and wherein the movement detection system is distal of the compliant section.

27. The system as claimed in claim 26 , wherein the at least one contact surface is provided by at least one of the plurality of mutually opposing grippers.

28. The system as claimed in claim 21 , wherein the movement detection system includes at least one magnetic field sensor.

29. The system as claimed in claim 26 , wherein the movement detection system includes one of a magnet and a magnetic field sensor on each of the plurality of mutually opposing grippers.

30. The system as claimed in claim 29 , wherein the at least one contact surface is adjacent the movement detection system.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jul 25, 2024
From: WAGNER, THOMAS; AHEARN, KEVIN; DAWSON-HAGGERTY, MICHAEL; GEYER, CHRISTOPHER; KOLETSCHKA, THOMAS; MARONEY, KYLE; MASON, MATTHEW T.; PRICE, GENE TEMPLE; ROMANO, JOSEPH; SMITH, DANIEL CARLTON; SRINIVASA, SIDDHARTHA; VELAGAPUDI, PRASANNA; ALLEN, THOMAS
To: BERKSHIRE GREY OPERATING COMPANY, INC.
Reel/Frame 068079/0465 →
Continuity (10)
Continuation 18234847 · Aug 16, 2023
Continuation 18093264 · Jan 4, 2023
Continuation 17736606 · May 4, 2022
Continuation 17123862 · Dec 16, 2020
Continuation 16743428 · Jan 15, 2020
Continuation 16545627 · Aug 20, 2019
Continuation 16212113 · Dec 6, 2018
Continuation 15242255 · Aug 19, 2016
Provisional Application 62210235 · Aug 26, 2015
Related Publication 20240308079A1 · Sep 19, 2024
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