Converter System

Abstract

A transducer system comprising a transducer structure with multiple surfaces to be measured, the transducer structure having at least one coupling member for removably coupling an object to the transducer structure. The transducer has at least one strain sensor coupled to the transducer structure and coupled to the multiple surfaces to be measured to measure deformation of the transducer structure in multiple directions. The system includes a dynamic measurement unit for measuring at least one acceleration of the object, and at least one controller. The controller is configured to receive deformation measurements in the multiple directions, receive acceleration measurements, and determine at least one of the mass, moment of inertia, and center of gravity of the object based on the deformation and acceleration measurements when the object is removably coupled to the coupling member.

Description

[Technical Field]

[0001] REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 445,795, filed February 15, 2023, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure is directed to the field of transducers. More particularly, the present disclosure relates to a transducer structure for receiving a transducer to form a transducer system. [Background technology]

[0003] Automation systems can be used to control the movement of objects in a variety of scenarios. For example, a robotic arm can be used to lift parts in a factory. To prevent the robotic arm from being damaged by trying to quickly pick up a heavy object, an optical system can be used to tell the system how heavy the object is. An exemplary optical system uses a camera to scan a barcode on the object. However, if the object is upside down or the barcode is damaged, the system may have difficulty determining which object is being moved and how heavy it is.

[0004] An unknown or improper determination of the object's weight can result in damage to the robotic arm, damage to the object, and / or dropping the object, for example, onto a factory floor, which can cause significant delays in the operation of a factory or other systems. Summary of the Invention [Means for solving the problem]

[0005] According to one aspect of the present disclosure, there is provided a converter system, the converter system comprising: a transducer structure having a plurality of surfaces to be measured, the transducer structure having at least one coupling member for removably coupling an object to the transducer structure; a transducer coupled to the transducer structure, the transducer having at least one strain sensor coupled to the plurality of surfaces to be measured in order to measure deformation of the transducer structure in a plurality of directions; a dynamic measurement unit for measuring at least one acceleration of the object; -At least one controller; Equipped with The controller Receive deformation measurements in multiple directions, -Receives acceleration measurements, determining at least one of a mass, a moment of inertia, and a center of gravity of the object based on measurements of deformation and acceleration when the object is removably coupled to the coupling member; It is structured as follows.

[0006] In any embodiment, the dynamic measurement unit may be at least one of a gyroscope, an accelerometer, and an inertial measurement unit.

[0007] In any embodiment, the at least one strain sensor may be a plurality of strain sensors.

[0008] In any embodiment, the plurality of strain sensors may include at least three strain sensors, and the plurality of directions may include a first direction, a second direction, and a third direction, and each of the first direction, the second direction, and the third direction may be perpendicular to one another; At least one controller determining a force acting in a third direction based on deformation measurements from the three strain sensors in the first direction and the second direction when the object is coupled to the coupling member, and measuring at least one angle value of the object using a dynamic measurement unit; Determine the angular offset between the object's angle value and the direction of gravity; determining at least one of a mass, a moment of inertia, and a center of gravity of the object based on the force and the angular offset; It can be further configured as follows.

[0009] In any embodiment, the plurality of strain sensors may include at least four strain sensors; When the object is coupled to the coupling member, at least one strain sensor of the plurality of strain sensors may be configured to measure a deformation of the transducer system as a result of the torque; The controller Determine at least one of the mass, moment of inertia, and center of gravity of an object based on forces, torques, and angular offsets. It is further configured as follows.

[0010] In any embodiment, the plurality of strain sensors may include at least two strain sensors; When the object is coupled to the coupling member, at least one strain sensor of the plurality of strain sensors may be configured to measure a deformation of the transducer system as a result of a torque, and at least one strain sensor of the plurality of strain sensors may be configured to measure a deformation of the transducer system as a result of a force; The controller Determine at least one of the mass, moment of inertia, and center of gravity of an object based on the forces and torques. It can be further configured as follows.

[0011] In any embodiment, the transducer structure, the dynamic measurement unit, and the coupling member may be mechanically linked.

[0012] In any embodiment, the at least one controller may be further configured to time synchronize the deformation measurements and the acceleration measurements.

[0013] In any embodiment, the transducer system may further comprise at least one actuator for actuating the at least one coupling member to control movement of the object when the object is coupled to the coupling member.

[0014] In any embodiment, the controller may be operable to control movement of the object in at least one of an angular plane and an orthogonal plane using the actuator.

[0015] In any embodiment, the object motion can include at least one of a linear velocity, a linear acceleration, an angular velocity, and an angular acceleration.

[0016] In any embodiment, the at least one controller may be further configured to control movement of the object using the at least one actuator based on at least one of the determined mass, moment of inertia, and center of gravity.

[0017] In any embodiment, at least one controller: determining at least one of a structural compliance of the object and a coupling strength between the object and at least one coupling member; determining a threshold velocity and a threshold acceleration based on at least one of structural compliance and cohesion; Actuating the object using an actuator to move the object below a threshold velocity and below a threshold acceleration; It can be further configured as follows.

[0018] In any embodiment, the at least one controller may be further configured to update the threshold velocity and threshold acceleration over time and control the movement of the object using the actuator based on the updated threshold velocity and threshold acceleration.

[0019] In any embodiment, at least one controller: Access the memory containing the acceleration shift parameters, -Predict the change in the object's center of gravity based on the acceleration shift parameter, modifying the movement of the object using at least one actuator based on the acceleration shift parameter such that the object moves at less than a threshold velocity and less than a threshold acceleration; It can be further configured as follows.

[0020] In any embodiment, the acceleration shift parameter may be determined by operating at least one actuator to move the object through an initial sequence.

[0021] In any embodiment, at least one actuator may be operated to move the object through one or more secondary sequences, and the acceleration shift parameter may be updated over time.

[0022] In any embodiment, the acceleration shift parameters can be programmed into memory prior to operating the transducer system.

[0023] These and other aspects and features of various embodiments are described in more detail below.

[0024] For a better understanding of the described embodiments, and to show more clearly how they may be carried into effect, reference will now be made, by way of example, to the accompanying drawings, in which: [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 1 is a side view of a transducer system according to an embodiment herein. [Figure 2] 2 is a side perspective view of the transducer system of FIG. 1 with an object coupled to a coupling member. FIG. [Figure 3] FIG. 2 is a side perspective view of the transducer system of FIG. 1. [Figure 4] FIG. 10 is a control system diagram according to another embodiment herein. [Figure 5]FIG. 10 is a top view of a transducer structure according to another embodiment herein. [Figure 6] FIG. 6 is a bottom view of the transducer structure of FIG. 5. [Figure 7] FIG. 6 is a top perspective view of the transducer structure of FIG. 5. [Figure 8] FIG. 6 is a bottom perspective view of the transducer structure of FIG. 5. [Figure 9] FIG. 6 is an exploded view of the transducer structure of FIG. 5. [Figure 10] 6 is a cross-sectional side view of the transducer structure of FIG. 5 taken along line AA in FIG. 5. [Figure 11] FIG. 6 is a side view of the transducer structure of FIG. 5. [Figure 12] FIG. 10 is a top perspective view of a transducer structure according to another embodiment of the present disclosure. [Figure 13] FIG. 13 is a top view of the transducer structure of FIG. 12. [Figure 14] FIG. 13 is a bottom perspective view of the transducer structure of FIG. 12. [Figure 15] FIG. 13 is an exploded view of the transducer structure of FIG. 12. [Figure 16] FIG. 10 is a top view of another transducer structure according to another embodiment of the present disclosure. [Figure 17] FIG. 17 is a bottom perspective view of the transducer structure of FIG. 16. [Figure 18] FIG. 17 is an exploded view of the transducer structure of FIG. 16. [Figure 19] 1 is a flow diagram of an exemplary method for processing data flow in a converter system. DETAILED DESCRIPTION OF THE INVENTION

[0026] The drawings included herein are intended to illustrate various examples of the articles, methods, and apparatus of the teachings herein and are not intended to limit the scope of the teachings in any way.

[0027] Various devices, methods, and compositions are described below to provide example embodiments of each of the claimed inventions. None of the embodiments described below limit any of the claimed inventions, and any of the claimed inventions may include devices and methods different from those described below. The claimed inventions are not limited to devices, methods, and compositions having all of the features of any one device, method, or composition described below, or to features common to more than one or all of the devices, methods, or compositions described below. A device, method, or composition described below may not be an embodiment of any of the claimed inventions. Any inventions disclosed in the devices, methods, or compositions described below that are not claimed in this document may be the subject of other means of protection, such as, for example, a continuing patent application, and the applicant, inventor, and / or owner do not intend to abandon, not claim, or make available to the public any such inventions by their disclosure in this document.

[0028] The terms "an embodiment," "embodiment," "embodiments," "the embodiment," "the embodiment," "the embodiments," "one or more embodiments," "some embodiments," and "one embodiment" mean "one or more (but not all) embodiments of the invention," unless otherwise specified.

[0029] The terms "including," "comprising," and variations thereof mean "including but not limited to," unless otherwise specified. Listing items does not imply that any or all of the items are mutually exclusive unless otherwise specified. The terms "a," "an," and "the" mean "one or more" unless otherwise specified.

[0030] As used herein and in the claims, when two or more parts are said to be "coupled," "connected," "attached," or "secured," the parts are joined or operated together directly or indirectly (i.e., through one or more intermediate parts) so long as a link occurs. As used herein and in the claims, when two or more parts are said to be "directly coupled," "directly connected," "directly attached," or "directly secured," the parts are connected in physical contact with each other. None of the terms "coupled," "connected," "attached," and "secured" distinguish between the manner in which two or more parts are joined together.

[0031] Furthermore, it will be understood that for simplicity and clarity of description, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. Additionally, numerous specific details are described to provide a thorough understanding of the exemplary embodiments described herein. However, those skilled in the art will understand that the exemplary embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the exemplary embodiments described herein. Furthermore, this description should not be considered to limit the scope of the exemplary embodiments described herein.

[0032] As used herein, the term "and / or" is intended to represent an inclusive or. That is, "X and / or Y" is intended to mean, for example, X or Y, or both. As a further example, "X, Y, and / or Z" is intended to mean X or Y or Z, or any combination thereof.

[0033] As used herein and in the claims, when two elements are said to be "parallel," the elements are parallel but spaced apart, or the elements are collinear.

[0034] introduction Automated systems for moving objects face challenges when using a single system for moving objects of varying size, shape, weight, material, compliance, and / or other variable characteristics. An optical system can be used to scan a barcode on an object to determine, for example, the object's weight based on data stored in a database; therefore, the system can calculate limits associated with that object's movement, such as speed and acceleration thresholds. However, if the object rotates and the barcode is not visible, the system cannot determine the object's nature. This lack of understanding can cause the object to be dropped, crushed, or damaged, which can then impair or disrupt other operations. This lack of understanding can also damage the system itself. For example, if the system includes a robotic arm, the robotic arm may accelerate a heavier-than-expected object too quickly, potentially damaging the robot or reducing the lifespan of its components due to repeated overloading.

[0035] 1, an exemplary system 10 for controlling the movement of an object is shown. The system 10 may be referred to as a transducer system 10 having a transducer structure 100, a transducer 300, and a dynamic measurement unit 400.

[0036] As illustrated in FIG. 1 , the transducer structure 100 is coupled to an actuatable member 20. The actuatable member 20 can be any device capable of moving the object 40 as part of the system 10. For example, as shown in FIG. 1 , the actuatable member 20 can be a robotic arm. The transducer structure 100 can be connected to a coupling member 22 for removably coupling the object 40 to the transducer structure 100. The coupling member 22 can be any mechanism capable of coupling with the object. For example, the coupling member 22 can include, but is not limited to, one or more suction devices, fingers, grips, pliers, a hand, or any combination thereof. Thus, the transducer system 10 can be used to lift and / or control the movement of the object 40 using the coupling member 22. The transducer structure 100 can be positioned anywhere in the system 10 such that the transducer 300 can measure deformation of the transducer structure 100 as a result of using the system 10.

[0037] When the object 40 is coupled to the coupling member 22, the transducer 300 can be used to measure the deformation of the transducer structure 100. The dynamic measurement unit 400 can be used to measure one or more parameters of the motion of the transducer structure 100 and / or the object 40, including, but not limited to, acceleration and / or angular values ​​of the object 40 in three-dimensional space. Based on these measurements, at least one of the mass, moment of inertia, and / or center of gravity of the object 40 can be determined. The motion of the object 40 can include, but is not limited to, one or more of linear velocity, linear acceleration, angular velocity, and / or angular acceleration.

[0038] By knowing one or more of these parameters associated with object 40, system 10 can use them to move object 40 more safely and efficiently, reducing the likelihood of dropping, crushing, or damaging object 40 and / or system 10.

[0039] Transducer and transducer structure 1, an exemplary embodiment of a transducer structure 100 is shown that includes a transducer 300. The transducer 300 is disposed on the transducer structure 100 such that the transducer 300 can measure one or more types of data based on changes in the transducer structure 100. For example, the transducer 300 can include, but is not limited to, a force sensor, a strain gauge, a piezoelectric sensor, a capacitive force sensor, an optical force sensor, a fiber optic force sensor, a Bragg grating, a silicone strain gauge, a metal foil strain gauge, and / or combinations thereof.

[0040] The transducer 300 can have one or more strain gauges 310. Each strain gauge 310 can be positioned on the surface 110 being measured. There can be a single strain gauge 310 across multiple surfaces and / or multiple strain gauges 310 across multiple surfaces. During use, when the transducer structure 100 is subjected to an external force, deformation of the transducer structure 100 causes deformation of one or more of the surfaces 110 being measured, resulting in strain on the surface 110 being measured. Strain is the ratio of a measured length to an original length in a particular direction. The strain gauges 310 act to measure relative changes to the surface 110 being measured, allowing the deformation to be calculated. For example, if the surface 110 being measured is compressed, the strain value will be less than 1. Conversely, if the surface 110 being measured is stretched, the strain value will be greater than 1.

[0041] Measuring the strain of the measured surface 110 caused by applying an external force to the transducer structure 100 allows for the calculation of the value of the external force that caused the deformation of the measured surface 110. This calculation can be determined using the known material properties of the transducer structure 100 and the known geometry of the transducer structure 100. Thus, by measuring the strain using strain gauges, the applied force can be determined.

[0042] Strain is most easily measured along an axis, or in other words, within a particular degree of freedom (DoF). For example, strain can be measured in a first direction, a second direction, and a third direction that are perpendicular to each other in a Cartesian coordinate system. These directions are commonly referred to as the x, y, and z directions. An exemplary coordinate system 12 is shown in FIG. 2. Each of the three directions has a translational component, which is the movement along that direction, and a rotational component, which is the rotation about the axis of that direction. The translational and rotational components result in six degrees of freedom in a Cartesian coordinate system. Thus, an external force can have six components: Fx, Fy, Fz, Mx, My, and Mz, where F = force and M = moment.

[0043] An external force cannot be applied omnidirectionally to the transducer structure 100. For example, the external force can be applied at an angle to the first, second, and / or third direction of the structure 100, thereby resulting in an external force that can be separated into axial forces applied along each direction and rotational forces that create moments about each axis. Thus, to measure the external force, the force along each axis can be calculated from the measured strain values ​​from each surface 110 being measured. In other words, the transducer 300 can be used to measure the deformation of the transducer structure 100 in multiple directions.

[0044] The transducer 300 can be a thin film transducer. Illustratively, the transducer 300 can range from about 25 to about 150 microns in thickness. The transducer 300 can have a thickness ranging from about 500 nanometers to about 500 microns.

[0045] The surface 110 to be measured may be an elongated member configured to receive the transducer 300. For example, the surface 110 to be measured may be a thin beam. To measure force and / or torque, the transducer may be affixed to the elongated beam 112 to measure its relative deflection as a result of the net force / torque on the transducer structure 100. For example, the transducer 300 may have a plurality of strain gauge 310 sensors and a plurality of elongated beams 112 with one or more sensors disposed thereon, as illustrated in FIGS. 5 and 6.

[0046] The transducer 300 can include additional sensor types, as previously mentioned. For example, the transducer 300 can include one or more temperature sensors. The inclusion of a temperature sensor can allow for local compensation of individual transducers. In other words, a temperature sensor can be used in combination with a deformation sensor to account for temperature changes and gradients, thereby improving the accuracy of the output data from the transducer 300.

[0047] Dynamic Measurement Unit The transducer system 10 may include one or more dynamic measurement units 400. The dynamic measurement unit 400 may be any device capable of measuring parameters of the object 40 during movement. For example, the dynamic measurement unit 400 may include, but is not limited to, one or more of an inertial measurement unit (IMU), an accelerometer, and / or a gyroscope. The dynamic measurement unit 400 may be used to measure acceleration (linear and / or angular) and / or angle values ​​in three-dimensional space. For example, the angular position of the object 40 may have a variable attitude, which may be measured by the dynamic measurement unit 400. Knowing the relative angular position of the object 40 compared to gravity can assist in calculating external forces acting on the transducer structure 100 as a result of the object 40, thereby reducing the likelihood of excessive movement damaging the object 40 or the system 10. The angle values ​​may be one or more vectors associated with changes in roll, pitch, and / or yaw of the object 40 in three-dimensional space.

[0048] Referring to FIG. 5 , as illustrated, the system 10 includes a dynamic measurement unit 400 that is an IMU. The IMU may include a combination of one or more of an accelerometer, a gyroscope, and a magnetometer. The IMU may be used to measure the force, angular velocity, and orientation of the object 40 in three-dimensional space. In some cases, the IMU may include a GPS receiver to provide geographic location. It will be appreciated that any IMU may be used. An example of an IMU used in the system 10 may be a Bosch BNO 085.

[0049] In some embodiments, the dynamic measurement unit 400 can include additional components of an electronic module. For example, the dynamic measurement unit 400 can include a controller 500 and / or one or more additional sensors. For example, the dynamic measurement unit 400 can include one or more temperature sensors and / or optical sensors.

[0050] Force application The system 10 can be used to measure external forces acting on the transducer structure 100. The external forces can result from some application of force, such as the transducer structure 100 being coupled to an end effector for interacting with one or more objects 40, which induces deformation in the transducer structure 100. As shown, the end effector can be a coupling member 22. For example, the transducer structure 100 shown in FIG. 1 can be connected to a coupling member 22 that can be used to interact with the objects 40. The transducer 300 can be used to measure external forces resulting from the weight of the coupling member 22 and / or from the interaction between the coupling member 22 and the objects 40. For example, if the coupling member 22 is used to lift a package, the transducer system 10 can be used to calculate the external forces acting on the transducer structure as a result of the connection and movement of the package.

[0051] 1-3 , as illustrated, the transducer structure 100 can be positioned between the coupling member 22 and one or more actuators 24. The actuators 24 are used to modify the position and movement of the coupling member 22, allowing the coupling member 22 to interact with one or more objects 40. The objects 40 can be anything that can be received by the coupling member 22. For example, the objects 40 can be packaging, food, manufacturing parts, lumber, building materials, or any object that can be lifted. As illustrated, the transducer structure 100, the dynamic measurement unit 400, and the coupling member 22 can be mechanically linked. The mechanical link between these elements can improve the response of the transducer 300 and the dynamic measurement unit 400, as well as the accuracy of the transducer 300 and the dynamic measurement unit 400's measurements of deformation, acceleration, and / or angle values. Thus, the actuator 24 can be used to control the movement of the object 40 coupled to the coupling member 22 so that the transducer 300 can measure the deformation of the transducer structure as a result of the movement of the object 40 and the dynamic measurement unit 400 can measure the acceleration and / or angle values ​​of the object 40.

[0052] Controller and Data Aggregation The system 10 may include a controller 500. The controller 500 may be any device capable of or facilitating calculations based on one or more of measurements of deformation, acceleration, and / or angle values ​​from the transducer 300 and / or the dynamic measurement unit 400. For example, the controller 500 may be an STM32 by STMicroelectronics.

[0053] A schematic data flow using a controller 500 is illustrated in FIG. 4 . The controller 500 can be analog, digital, or a combination thereof. The controller 500 can be configured to aggregate data for external calculations or can perform calculations itself. For example, the controller 500 can communicate with a data acquisition unit 350, which can receive data from the transducer 300 and / or the dynamic measurement unit 400. The data acquisition unit 350 can also be referred to as a sensing module. The data acquisition unit 350 can include a digital-to-analog converter. An exemplary data acquisition unit can be an STM32 by STMicroelectronics. The data acquisition unit 350 can optionally be used to condition the data from the transducer 300, such as calibrating and / or normalizing the data.

[0054] The controller 500 may be configured to receive deformation measurements in multiple directions from the transducers 300 and / or data acquisition unit 350, and acceleration and / or angle value measurements from the dynamic measurement unit 400. These measurements may be the result of deformations caused by coupling the object 40 to the coupling member 22. Thus, when the object 40 is removably coupled to the coupling member 22, the controller 500 may determine the mass, moment of inertia, and / or center of gravity of the object 40 based on the received deformation and acceleration measurements.

[0055] In some embodiments, the controller 500 may be operable to time-synchronize one or more data streams. For example, the controller 500 may operate to synchronize deformation, acceleration, and / or angle value data. Synchronizing the data can improve the response of the system 10 when coupled to the coupling member 22, optimizing the movement of the object 40. An advantage of this design is that synchronizing the various measurements allows the system 10 to compensate for faster movement of the object 40. For example, if there is a time delay between the measurement data of the transducer 300 and the dynamic measurement unit 400, a time error can be introduced into the calculation. By the time the controller 500 attempts to compensate for a changed value of either the transducer 300 or the dynamic measurement unit 400, the object 40 may be in a different position and may be experiencing different accelerations and / or forces. One solution to this time delay error would be to move the object 40 at a significantly slower velocity and / or acceleration so that the effect of the delay is less significant on the calculated output. In other words, a lower velocity and / or acceleration can be used to manually synchronize the data. However, this solution may result in increased system cost and decreased efficiency. In system 10, time synchronization of measured data allows system 10 to operate at higher speeds and / or accelerations while reducing errors in output calculations.

[0056] The controller 500 can utilize known orientation information (e.g., yaw, pitch, roll, etc.) and / or spatial values ​​to improve the operation of the system 10. The components of the system 10 can be mechanically coupled so that the relative location of each component is a fixed, known value. For example, the transducer structure 100 can be a monolithic structure. A single, monolithic structure can reduce relative motion between the components of the system 10 and reduce errors. With more components in a system, losses and irregularities that can introduce errors can increase. For example, interfaces between components such as threads, metal-to-metal friction, and / or overall wear can introduce slippage and / or fatigue, which can affect strain values. When a monolithic system or a system using fewer components is used, the relative motion between components can be reduced. Reducing the relative motion between the components of the system 10 can simplify calculations and reduce errors in the output, as deformations that cause strain can be better transmitted to the strain gauges.

[0057] In some embodiments, the mechanical coupling of the transducer 300 to the transducer structure 100 can be lossless. Thus, hysteresis, friction, and / or elastic deformation can be reduced, thereby reducing errors in the measured deformation values. The dynamic measurement unit 400 can be losslessly coupled to the transducer structure 100 or to another component of the system 10. The connection can be stiff to reduce changes in hysteresis, friction, and / or elastic deformation. Springs and / or vibration damping devices can be used if the connection has a known constant, which can allow the measured value to be compensated.

[0058] In some embodiments, the transducer 300 may be aligned with the transducer structure 100 so that one or more strain gauges 310 in the transducer 300 are in a known position relative to the transducer structure 100. This pre-alignment may improve the calculated output of the system 10 by reducing errors and simplifying calculations using measurements from the transducer 300.

[0059] An advantage of using known spatial values ​​is that the dynamic measurement unit 400 may not need to be located at the center of mass of the transducer structure 100. In other words, the dynamic measurement unit 400 can be located anywhere in the system 10, as long as its position is known and can be included in the calculated output values. For example, the dynamic measurement unit 400 can be located on the transducer structure 100 and offset from the position of the object 40 coupled to the coupling member 22. In some embodiments, the dynamic measurement unit 400 can be coupled to another component of the system 10 that is adjacent to the object 40 and remote from the transducer structure 100. For example, if there is a rigid member between the coupling member 22 and the transducer structure 100, the dynamic measurement unit 400 can be located adjacent to the coupling member 22. Thus, the dynamic measurement unit 400 can move approximately or exactly with the object 40, thereby allowing the known movement of the coupling member 22 measured by the dynamic measurement unit 400 to be used to compensate and correct the input values ​​of the system 10.

[0060] Using known spatial relationships may allow system 10 to operate at higher speeds. Due to the reduced computational complexity resulting from fewer degrees of freedom, system 10 can operate at higher frequencies and with shorter length components, such as the distance between coupling member 22 and transducer structure 100. Operating at higher frequencies with shorter length components can result in the creation of standing waves, but the simplified computational complexity allows these standing waves to be more easily accounted for and compensated for.

[0061] The controller 500 may be wired to the transducer 300 and / or the dynamic measurement unit 400, or may receive data wirelessly. In some embodiments, the controller 500 may be separate from the rest of the system 10 and may perform or facilitate calculations based on the measured data. In other words, the controller 500 may be part of an external computing system in data communication with the system 10. For example, the known relationships between the various components of the system 10 may allow the strain gauges 310 to act as position sensors, thereby simplifying calculations for acceleration and deformation.

[0062] The controller 500 may be operable to control the movement of the object 40 coupled to the coupling member 22 in the orthogonal planes and / or in the angular planes previously mentioned.

[0063] In some embodiments, there may be a communications module that communicates with the controller 500 and one or more external control systems. For example, the communications module may receive process data that has been converted, for example, to Ethernet data for streaming over an Ethernet system.

[0064] System Configuration System 10 may be configured to simplify or improve the accuracy and / or efficiency of determining one or more parameters of object 40 coupled to coupling member 22. As previously mentioned, one or more of the mass, moment of inertia, and / or center of gravity of object 40 may be determined using controller 500 and measurements of received deformation, acceleration, and / or angle values.

[0065] 5-11, an exemplary three degree of freedom (DOF) system 10 is shown. The 3DOF system has three measured surfaces 110, each having a respective strain sensor in the transducer 300. As shown, each measured surface 110 may be an elongated beam 112. As shown in FIG. 7, the coordinate system 12 has three directions: x, y, and z. In other words, there is a first direction, a second direction, and a third direction, and each direction is perpendicular to the other directions.

[0066] Using a 3DOF system can simplify calculations when determining mass, moments of inertia, and / or center of gravity. For example, the measured Fz force may be affected by one or more other forces acting on the object 40 due to its dynamic motion. By measuring My and Mx over a full circular range (360 degrees), these undesirable effects cancel out, leaving the resulting Fz force as the calculated value. The resulting Fz force can then be used to facilitate the determination of mass, moments of inertia, and / or center of gravity. Additionally, the measured Fz may be relatively insignificant compared to Mx and My due to the orientation of the object 40, resulting in an inaccurate measurement for determining mass. In these situations, measurements of Mx and My can be used along with the relatively insignificant Fz measurement to cancel out the effects of the center of gravity, which allows for the calculation of the desired parameter directly from the resulting moment. In other words, using three measured surfaces allows for the calculation of desired parameters over the entire range of motion of the object in three-dimensional space, thereby simplifying the calculations and reducing errors.

[0067] Referring to FIG. 6, the transducer structure 100 has four surfaces 110a-110d. The first surface 110a and the third surface 110c are in a first direction, and the second surface 110b and the fourth surface 110d are in a second direction. In other words, the strain gauges 310 are disposed in a plane formed by the first and second directions. In some embodiments, for a 3DoF configuration, there may be only three surfaces 110. The fourth surface 110 may be used to reduce crosstalk by introducing an additional variable.

[0068] This configuration may be applied in scenarios where the object 40 is moved by the coupling member 22 at a relatively constant velocity in a direction generally parallel to gravity. In other words, the Fz component of the external force can be calculated in the direction of gravity, simplifying the calculation of mass, moment of inertia, and / or center of gravity. However, if the object 40 moves in a nonlinear motion, such as an arc, the Fz component of the external force may no longer be aligned with the direction of gravity. Furthermore, the motion of the object 40 may have varying accelerations, requiring more complex calculations to determine the desired parameters. Therefore, the dynamic measurement unit 400 can be used to compensate for increased complexity in the motion of the object 40, including changes in motion caused by rotation and / or acceleration of the object 40.

[0069] The dynamic measurement unit 400 can be used to measure one or more acceleration and / or angular values ​​of the object 40. For example, if the dynamic measurement unit 400 is an accelerometer, the dynamic measurement unit 400 can determine the linear acceleration of the object 40 as the object 40 is moved by the coupling member 22, and if the dynamic measurement unit is a gyroscope, the dynamic measurement unit 400 can determine an angular value of the object 40 in three-dimensional space. In some embodiments, as illustrated in FIG. 5 , the dynamic measurement unit 400 can be an IMU that can determine both the acceleration and angular values ​​of the object 40.

[0070] The controller 500 can be configured to determine a force acting on the object 40 in a third direction (e.g., Fz) based on the deformation measurements of the transducer 300 and based on measurements of acceleration and / or angle values ​​from the dynamic measurement unit 400. The acceleration values ​​may enable the mass, moment of inertia, and / or center of gravity to be determined if the object 40 moves with a non-constant velocity. If the object 40 moves with a non-linear motion, the dynamic measurement unit 400 and the controller 500 can be used to determine the angular offset between the angle value of the object 40 and the direction of gravity, which may then enable the determination of the mass, moment of inertia, and / or center of gravity based on the determined Fz force and angular offset.

[0071] If the object 40 moves with a non-constant velocity and non-linear motion, the mass, moment of inertia, and / or center of gravity can be determined based on the calculated Fz force, angular offset, and acceleration measurements. In other words, the Fz value determined from the transducer 300 may change relative to the direction of gravity as the angular position of the object 40 changes. Using the dynamic measurement unit 400 to measure the angular value may allow for accurate calculation of Fz even when moving at an angle relative to gravity.

[0072] Thus, a 3DOF configuration may allow for simplified calculation of mass, moment of inertia, and / or center of gravity by canceling out deformation parameters. Using a mechanical system to cancel out parameters and simplify calculations can reduce errors and the computational effort required to calculate desired parameters. Furthermore, using a 3DOF system can reduce or eliminate the need for features designed to reduce crosstalk, such as compliant beams. In contrast, more complex 6DOF systems require compliant beams to reduce crosstalk, which can introduce exponentially increasing complexity into the calculation of desired parameters.

[0073] In some embodiments, the plurality of strain sensors may include at least two strain sensors, at least one of which is configured to measure deformation of the transducer system 10 as a result of torque and at least one of which is configured to measure deformation of the transducer system 10 as a result of force. The controller 500 may be configured to use the measured force and torque to determine at least one of the mass, moment of inertia, and / or center of gravity of the object 40 coupled to the coupling member 22. For example, with reference to Figures 12-15, as shown, the transducer structure 100 includes a transducer 300 with four strain sensors and four surfaces 110 to be measured.

[0074] Referring to FIG. 13, the transducer structure 100 has a first surface 110a in a first direction, and a second surface 110b and a third surface 110c in directions that are combinations of the first and second directions, respectively. In other words, the strain gauges 310 are arranged in a plane formed by the first and second directions. This configuration may allow an external force to generate positive strain values ​​across two of the measured surfaces and negative strain values ​​across the third measured surface, or vice versa. In other words, one measured surface 110 may be in tension and the other two measured surfaces 110 may be in compression. Thus, the Fx and Fy components may cancel across the xy plane, making the Fz component easier to determine.

[0075] Three of the strain sensors are arranged in the xy plane, as illustrated in Figure 13, and the fourth strain sensor is on the measured surface 110d in the z direction, as illustrated in Figure 12. Thus, the fourth strain sensor can be used to measure the deformation of the transducer system 10 as a result of torque.

[0076] An advantage of this configuration is that torque can be measured and used to improve the accuracy of mass, moment of inertia, and / or center of gravity calculations. For example, if object 40 is lifted by coupling member 22 and rotated at least partially about the z-axis, torque may be introduced into transducer system 10. This rotational torque, if left uncompensated, could introduce enough error into the motion of object 40 that it could damage or dislodge object 40 coupled to coupling member 22. Calculating and using torque in the output value can reduce the likelihood of dropping or damaging object 40 and / or system 10 by properly compensating for the motion of object 40.

[0077] feedback The system 10 may be operable to control the movement of the object 40 coupled to the coupling member 22 based on the determined mass, moment of inertia, and / or center of gravity. In other words, after the controller 500 facilitates the determination of one of the desired output parameters, the one or more output parameters may be used in a feedback loop to modify the control of the movement of the object 40. For example, the controller 500 may be configured to control the movement of the object 40 using the actuator 24 based on the determined mass, moment of inertia, and / or center of gravity. In some embodiments, the controller 500 may package the determined output data for use by one or more additional systems. The packaged data may be in analog and / or digital format. The data may be packaged, for example, but not limited to, USB, CAN bus, analog, and / or Ethernet. The packaged data may be sent to one or more control systems. For example, the data may be sent to a control system that can control the actuator 24 and / or to a control system that controls the coupling strength of the coupling member 22. In embodiments in which the coupling member 22 is a grip, the control system may use the packaged data to control the strength of the grip.

[0078] An advantage of using the controller 500 to optimize the movement of the object 40 based on the calculated output parameters is that the system 10 can operate using more complex movements. For example, if the object 40 is moved in a nonlinear (e.g., parabolic or arcuate) motion, the object 40 will experience varying velocities and accelerations. By using a feedback mechanism based on the mass, moment of inertia, and / or center of gravity of the object 40, the object 40 can be moved in a way that reduces the likelihood of it becoming dislodged from the coupling member 22. Thus, the likelihood of damage to the object 40 and / or the system 10 can be reduced.

[0079] The feedback mechanism also allows for optimized or enhanced movement of an object 40 that is compliant and / or has a changing center of gravity. For example, if the object 40 is a bag, the bag may have a specific structural compliance based on how it deforms or can deform due to changes in acceleration coupled to the coupling member 22. In another example, the object 40 may contain a liquid that changes its center of gravity with acceleration. For example, when the object 40 is lifted, it may have a first center of gravity, but after the object 40 is moved, acceleration may cause the center of gravity to shift to a second center of gravity. This acceleration shift may result in an increase in external forces acting on the object 40 and the coupling member 22, potentially dislodging and / or damaging the object 40. The acceleration shift may be temporary or permanent, depending on the object 40.

[0080] In some embodiments, the object 40 can be a single type of food, or a variety of types of food. The system 10 can be used to detect the structural compliance of each food type when coupled to the coupling member 22. Detecting structural compliance can be important depending on the type of food being lifted. For example, lifting a crab-flavored food requires a different sensitivity for handling using the coupling member 22 than lifting, for example, an apple.

[0081] Each object 40 may be associated with a threshold velocity and / or a threshold acceleration. The threshold velocity is a velocity that, if exceeded, may cause damage to the object 40 or the system 10 or may cause the object 40 to become uncoupled from the coupling members 22. The threshold acceleration is an acceleration that, if exceeded, may cause damage to the object 40 or the system 10 or may cause the object 40 to become uncoupled from the coupling members 22. The threshold velocity and / or threshold acceleration may be determined based on the structural compliance value of the object 40, the coupling force between the object 40 and the coupling members 22, and / or an acceleration shift parameter of the object 40. These parameters may be referred to as prediction parameters for predicting the movement of the object 40 based on the desired velocity and / or acceleration.

[0082] The predicted parameters can be used to modify the movement of the object 40 over time. For example, the controller 500 can be configured to update the threshold velocity and / or threshold acceleration over time and control the movement of the object 40 using the actuator 24 based on the updated threshold velocity and / or threshold acceleration. Controlling the movement of the object 40 can include moving the object 40 below the threshold velocity and / or below the threshold acceleration. Moving below the threshold can reduce the likelihood of damage to the object 40, the system 10, and / or the object 40 becoming dislodged from the coupling member 22.

[0083] One or more predictive parameter meters may be stored in a memory of the system 10 accessible by the controller 500. The predictive parameters may be pre-stored or pre-programmed into the memory prior to use of the system 10. For example, the object 40 moved by the system 10 may be relatively consistent, and therefore the predictive parameters are known prior to use of the system 10. The predictive parameters may be stored in the memory of the system 10 such that the controller 500 or other computing device can access the memory to modify the movement of the object 40 based on the known predictive parameters.

[0084] The predicted parameters can be calculated based on use of the system 10 and stored in memory. For example, the predicted parameters can be calculated for an initial movement of the object 40 and stored in memory accessible by the controller 500. The stored values ​​for the predicted parameters can be updated over time to compensate for changing acceleration and center of gravity. For example, the system 10 can run a calibration sequence without the object 40 coupled to the coupling member 22 to understand the movement and deformation of the system before loading. Once the object 40 is coupled to the coupling member 22, the system 10 can move through an initial sequence and determine one or more predicted parameters. As previously described, the predicted parameters can then be accessed by the controller 500 to update the movement of the object 40. As the system 10 moves the object 40 through one or more secondary sequences, the predicted parameters can be updated over time. Updating the predicted parameters over time can enable more consistent compensation for the movement of the object 40 based on changing acceleration and / or angle values.

[0085] In some embodiments, the plurality of strain sensors can include six (i.e., exactly six or more than six) sensors. The exemplary embodiment of FIGS. 16-18 includes six sensors (e.g., six strain sensors 310). Embodiments including six sensors can be designed into a 6DOF configuration. The exemplary embodiment of FIGS. 16-18 is an exemplary 6DOF system. In some examples, the 6DOF system includes 12 measured surfaces 110, each surface having a respective strain sensor on the transducer 300. In some examples, the 6DOF system has fewer than 12 measured surfaces with respective strain sensors. In some examples, the 6DOF system has only three surfaces, each having a linear and / or shear strain sensor on the transducer 300. In some examples, each measured surface 110 is a surface of an elongated beam 112 attached to a compliant beam 114. As shown in FIG. 16, the coordinate system 12 has three directions: x, y, and z. In other words, there is a first direction, a second direction, and a third direction, each direction being perpendicular to the other.

[0086] Referring to FIG. 16, an exemplary transducer structure 100 has three surfaces 110a-110c, each of which rests on a respective one of three structures (e.g., three separate beams). One of the three structures of the exemplary transducer structure 100 of FIG. 16 is aligned along a general planar axis, while the other two are not. Additional calculations are required to convert the coordinates of the latter two structures of the exemplary transducer structure 100 of FIG. 16 to conform to general Cartesian coordinates, as with the first structure. Each structure of the exemplary transducer structure 100 of FIG. 16 has a rectangular cross-section, and four strain sensing elements are disposed on the structure, one on each exposed surface, for a total of 12 strain sensing elements. Alternatively, one or more of the structures on which the measured surface 110 is formed may include fewer than four strain sensing elements, such as a total of six strain sensing elements (e.g., three structures with two strain sensing elements each).

[0087] This configuration is applicable, for example, in scenarios where the object 40 is moved by the coupling member 22 in a substantially constant direction, linear velocity, and angular velocity relative to gravity. In other words, the overall force and moment vectors can be calculated fully taking into account the effects of gravity, simplifying the calculation of the mass, moment of inertia, and / or center of gravity. However, if the object 40 is moved in a nonlinear and / or accelerating motion, such as an arc, the force components of the external force may no longer coincide with the direction of gravity, making it impossible to calculate the mass, moment of inertia, and / or center of gravity. The dynamic measurement unit 400 can be used to compensate for changes in one or more of the direction, linear velocity, and angular velocity, allowing for the measurement of one or more of the mass, moment of inertia, and / or center of gravity.

[0088] The controller 500 can be configured with the dynamic measurement unit 400 to determine the mass, moment of inertia, and / or center of gravity of the object 40 at any motion or orientation in space. Additionally, the dynamic acceleration and angular position information from the unit 400 and the controller 500 can further assist in determining component forces and moments that may be difficult to interpret due to inherent crosstalk.

[0089] When object 40 moves in a non-linear motion using a non-constant velocity, the mass, moment of inertia, and / or center of gravity can be determined based on the calculated force components closest to the gravity, angular offset, and acceleration measurements. In other words, the force values ​​determined from transducer 300 may change relative to the direction of gravity as the angular position of object 40 changes. Using dynamic measurement unit 400 to measure angular values ​​may allow for accurate calculation of the force components even when moved at an angle relative to gravity.

[0090] Using a 6DOF system resolves moments and forces relative to all three orthogonal axes, which allows for complete resolution in all directions. The advantage of doing so is that the center of mass of the object 40 is irrelevant, since its mass can be derived from an increased number of force and moment vectors regardless of orientation. Additionally, if the orientation of the sensing system 10 makes a DOF of interest unimportant, the remaining DOFs can help resolve the DOF of interest. System 10 incorporates the use of a compliant beam, which complicates the calculation of force and moment parameters and increases crosstalk in the system.

[0091] Thus, a 6DOF configuration may enable readings of mass, moment of inertia, and / or center of gravity in all orientations in three-dimensional space. Using a compliant beam allows for more sensitive readings of forces and moments in all axes. Additionally, using the measurement unit 400 and controller 500 with the transducer 300 can provide more accurate mass, moment of inertia, and / or center of gravity by providing measurement data of acceleration and / or angle values ​​in both dynamic and static cases.

[0092] How we process your data 19, a flow diagram illustrating an exemplary method 1000 for processing data in system 10 is shown. As shown, method 1000 references data acquisition unit 350, transducer 300, controller 500, and dynamic measurement unit 400. It should be understood that these components and steps are examples and may not be present at every stage of the data flow. Additionally, method 1000 may include one or more additional components and / or steps.

[0093] In step 1010 , the data acquisition unit 350 may receive measurement data from the transducer 300 .

[0094] In step 1020, the data acquisition unit 350 may clean the data. For example, the signal may be conditioned by one or more of calibrating, combining, or normalizing the data.

[0095] In step 1030, the cleaned measurement data may be sent to the controller 500. Data from the dynamic measurement unit 400 may be sent to the controller 500. Optionally, other system data from additional sensors may be transferred to the controller 500.

[0096] The controller 500 can condition the new data, thereby sanitizing it, at step 1040. The controller 500 can synchronize the sanitized data from one or more sources.

[0097] In step 1050, the controller 500 may process the synchronized data and calculate at least one output of mass, moment of inertia, and / or center of gravity.

[0098] At step 1060, the output data may optionally be packaged for transfer to another component of the system. For example, the data may be packaged for USB, CAN bus, and / or Ethernet. One or more other forms of packaging may also be used.

[0099] In step 1070, the data may optionally be sent to one or more control systems. For example, the control systems may be for the actuators and / or for the coupling members.

[0100] In step 1080, the control system can modify the control of the actuator to change the movement of the object.

[0101] While the above description sets forth features of exemplary embodiments, it should be understood that certain features and / or functions of the described embodiments are susceptible to modification without departing from the spirit and principles of operation of the described embodiments. For example, various characteristics described by the illustrated embodiments or examples can be selectively combined with one another. Accordingly, what has been described above is intended to be illustrative, but not limiting, of the claimed concepts. Those skilled in the art will recognize that other variations and modifications may be made without departing from the scope of the present invention, as defined by the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples, but should be accorded the broadest interpretation consistent with this description as a whole. [Explanation of symbols]

[0102] 10 Converter System 12 Coordinate Systems 20 Operable Members 22 Connecting member 24 Actuator 40 Objects 100 Transducer Structure 110 Surface to be measured 112 Beam 114 Adaptive Beam 300 Converter 310 Strain Gauge 350 Data Acquisition Unit 400 Dynamic Measurement Unit 500 Controller

Claims

1. a transducer structure having a plurality of surfaces to be measured, the transducer structure having at least one coupling member for removably coupling an object to said transducer structure; a transducer coupled to the transducer structure, the transducer having at least one strain sensor coupled to the surfaces to be measured so as to measure deformations of the transducer structure in a plurality of directions; a dynamic measurement unit coupled to said transducer structure for measuring at least one acceleration of said object; at least one controller; Equipped with The controller: receiving measurements of said deformation in a plurality of said directions; receiving a measurement of said acceleration; determining at least one of a mass, a moment of inertia, and a center of gravity of the object when the object is removably coupled to the coupling member based on the measurements of the deformation and the acceleration; It is configured as follows: the transducer structure, the dynamic measurement unit, and the coupling member are mechanically linked; A transducer system, wherein the coupling of the transducer and / or the dynamic measurement unit to the transducer structure is of known spatial and mechanical properties.

2. The transducer system of claim 1 , wherein the dynamic measurement unit is at least one of a gyroscope, an accelerometer, and an inertial measurement unit.

3. The transducer system of claim 1 , wherein the at least one strain sensor is a plurality of strain sensors.

4. the plurality of strain sensors includes at least three strain sensors, the plurality of directions includes a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other; At least one of the controllers determining a force acting in the third direction based on deformation measurements from the three strain sensors in the first direction and the second direction when the object is coupled to the coupling member, and measuring at least one angle value of the object using the dynamic measurement unit; - determining an angular offset between the angle value of the object and the direction of gravity; - determining at least one of the mass, moment of inertia, and center of gravity of the object based on the force and the angular offset; The transducer system of claim 3 further configured to:

5. the plurality of strain sensors includes at least four strain sensors; at least one strain sensor of the plurality of strain sensors is configured to measure a deformation of the transducer system as a result of a torque when the object is coupled to the coupling member; The controller determining at least one of the mass, moment of inertia, and center of gravity of the object based on the force, the torque, and the angular offset; The transducer system of claim 4 further configured to:

6. the plurality of strain sensors includes at least two strain sensors; when the object is coupled to the coupling member, at least one strain sensor of the plurality of strain sensors is configured to measure a deformation of the transducer system as a result of a torque, and at least one strain sensor of the plurality of strain sensors is configured to measure a deformation of the transducer system as a result of a force; The controller - determining at least one of the mass, moment of inertia, and center of gravity of the object based on the forces and the torques; The transducer system of claim 3 further configured to:

7. the plurality of strain sensors includes at least six strain sensors, the plurality of directions includes a first direction, a second direction, and a third direction, and each of the first direction, the second direction, and the third direction is perpendicular to one another; At least one of the controllers determining forces and / or moments acting in the first, second and third directions based on deformation measurements from the six strain sensors in the first, second and third directions when the object is coupled to the coupling member, and measuring at least one angle value of the object using the dynamic measurement unit; - determining an angular offset between the angle value and the center of gravity of the object; - determining at least one of the mass, moment of inertia, and center of gravity of the object based on the force and the angular offset; The transducer system of claim 3 further configured to:

8. 4. The transducer system of claim 3, wherein the plurality of strain sensors are all part of a single membrane, the single membrane having a controlled spatial relationship between the plurality of strain sensors within the single membrane.

9. The transducer system of claim 8 , wherein the single membrane is aligned with the transducer structure.

10. The transducer system of claim 1 , wherein at least one of the controllers is further configured to time-synchronize the deformation measurements and the acceleration measurements.

11. 10. The transducer system of claim 1, further comprising at least one actuator for actuating at least one of said coupling members to control movement of said object when said object is coupled to said coupling members.

12. The transducer system of claim 11 , wherein the controller is operable to control the movement of the object in at least one of an angular plane and an orthogonal plane with the actuator.

13. The transducer system of claim 11 , wherein the object motion comprises at least one of a linear velocity, a linear acceleration, an angular velocity, and an angular acceleration.

14. 12. The transducer system of claim 11, wherein the at least one controller is further configured to control the movement of the object using the at least one actuator based on at least one of the determined mass, moment of inertia, and center of gravity.

15. At least one of the controllers - determining at least one of the structural compliance of the object and the coupling strength between the object and at least one of the coupling members; The transducer system of claim 11 further configured to:

16. At least one of the controllers determining a threshold velocity and a threshold acceleration based on at least one of the structural compliance and the coupling strength; The transducer system of claim 15 further configured to:

17. At least one of the controllers actuating the object with the actuator to move the object at less than the threshold velocity and less than the threshold acceleration.

17. The transducer system of claim 16, further configured to:

18. 20. The transducer system of claim 17, wherein at least one of the controllers is further configured to update the threshold velocity and the threshold acceleration over time and control the movement of the object using the actuator based on the updated threshold velocity and the threshold acceleration.

19. At least one of the controllers Accessing memory containing acceleration shift parameters; - predicting a change in the center of gravity of the object based on the acceleration shift parameter; - modifying the movement of the object using the at least one actuator based on the acceleration shift parameter such that the object moves below the threshold velocity and below the threshold acceleration; 20. The transducer system of claim 17, further configured to:

20. 20. The transducer system of claim 19, wherein the acceleration shift parameter is determined by operating at least one of the actuators to move the object through an initial sequence.

21. 21. The transducer system of claim 20, wherein at least one of the actuators is operated to move the object through one or more secondary sequences, and the acceleration shift parameter is updated over time.

22. 20. The transducer system of claim 19, wherein the acceleration shift parameters are programmed into the memory prior to operating the transducer system.

23. The transducer system of claim 1 , wherein the transducer is aligned with the transducer structure.

24. 2. The transducer system of claim 1, wherein the coupling of the transducer and / or the dynamic measurement unit to the transducer structure is a monolithic structure.

25. The transducer system of claim 1 , wherein the coupling of the transducer and / or the dynamic measurement unit to the transducer structure is substantially lossless.

26. 10. The transducer system of claim 1, wherein only a single dynamic measurement unit is required.

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