{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11280690","patent":{"patent_number":"US-11280690","title":"Detection of undesirable forces on a robotic manipulator","assignee":null,"inventors":[],"filing_date":"2020-01-17T00:00:00.000Z","publication_date":"2022-03-22T00:00:00.000Z","cpc_codes":["A61B","A61B","A61B","A61B","A61B","A61B","A61B","B25J","B25J","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","G05B","G05B"],"num_claims":26,"abstract":"Certain aspects relate to systems and techniques for detection of undesirable forces on one or more surgical robotic arms. In one aspect, there is provided a system including a robotic arm, including: two linkages, a joint, a torque sensor, and an instrument device manipulator (IDM). The system may further include a processor configured to measure a first torque value at the joint based on an output of the torque sensor and determine a second torque value at the joint based on a position of the robotic arm. The second torque value may be indicative of a gravitational component of the torque between the two linkages. The processor may be further configured to determine a force at the IDM based a difference between the first and second torque values and determine whether the robotic arm has collided with an object or misaligned based on the force at the IDM."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Detection of undesirable forces on a robotic manipulator","description":"Certain aspects relate to systems and techniques for detection of undesirable forces on one or more surgical robotic arms. In one aspect, there is provided a system including a robotic arm, including:","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11280690","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11280690","citation_suggestion":"Patentable. \"Detection of undesirable forces on a robotic manipulator\" (US-11280690). https://patentable.app/patents/US-11280690","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11280690","json":"https://patentable.app/api/llm-context/US-11280690","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T07:43:40.146Z"}