US 11,813,734 B2
Systems and methods for providing contact detection in an articulated arm
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jan. 4, 2023, as Appl. No. 18/093,264.
Application 18/093,264 is a continuation of application No. 17/736,606, filed on May 4, 2022, granted, now 11,597,095.
Application 17/736,606 is a continuation of application No. 17/123,862, filed on Dec. 16, 2020, granted, now 11,370,122, issued on Jun. 28, 2022.
Application 17/123,862 is a continuation of application No. 16/743,428, filed on Jan. 15, 2020, granted, now 10,913,159, issued on Feb. 9, 2021.
Application 16/743,428 is a continuation of application No. 16/545,627, filed on Aug. 20, 2019, granted, now 10,875,185, issued on Dec. 29, 2020.
Application 16/545,627 is a continuation of application No. 16/212,113, filed on Dec. 6, 2018, granted, now 10,618,177, issued on Apr. 14, 2020.
Application 16/212,113 is a continuation of application No. 15/242,255, filed on Aug. 19, 2016, granted, now 10,343,284, issued on Jul. 9, 2019.
Claims priority of provisional application 62/210,235, filed on Aug. 26, 2015.
Prior Publication US 2023/0141353 A1, May 11, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01); B25J 13/08 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/1694 (2013.01) [B25J 9/1638 (2013.01); B25J 13/088 (2013.01); B25J 15/0616 (2013.01); B25J 17/0208 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A programmable motion system for grasping and moving objects, said programmable motion system comprising:
a deformable vacuum end-effector coupled to a distal end of an articulated arm and in communication with a vacuum source;
a movement detection system for providing information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm in at least two degrees of freedom, and
a controller for determining, responsive to the information regarding movement of the deformable vacuum end-effector with respect to the distal end of the articulated arm whether the deformable vacuum end-effector has made contact with an object to be grasped.