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  "abstract": "This disclosure describes a tool changer coupling system incorporating redundant locking detection mechanisms independent of the actuator state. The problem addressed is the potential for tool drops when a coupling reports locked solely based on actuator position, without confirming mechanical engagement of the locking elements. The described system employs two distinct detection paths: one responsive to the actuator position and another directly sensing the mechanical seating of the locking elements. Disagreement between these paths or loss of pneumatic supply initiates a safe condition, preventing unintentional tool release and enhancing operational integrity in robotic applications.",
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  "keywords": [
    "tool changer",
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  "title": "Redundant Locking Detection for Robotic Tool Changer Coupling",
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