Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Soft robot shape touch multi-mode self-energized flexible sensing system

A perception system and multi-modal technology, applied in the direction of manipulators, friction generators, chucks, etc., can solve the problems that cannot solve the needs of soft robots, rigid sensors cannot be arranged, rigid sensors cannot be detected, etc.

Inactive Publication Date: 2021-09-24
SHANGHAI UNIV
View PDF6 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, unlike rigid robots, soft robots cannot be arranged with general rigid sensors due to their flexible characteristics.
And due to its highly non-linear nature, common perception techniques cannot address the needs of soft robotics
Form perception and tactile perception are unique flexible perception technologies due to the characteristics of the above-mentioned soft robots. Form perception can reflect the bending state of the soft robot itself, and tactile perception can provide richer information in the interaction with the environment and humans. Contact information, which cannot be detected by rigid sensors

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Soft robot shape touch multi-mode self-energized flexible sensing system
  • Soft robot shape touch multi-mode self-energized flexible sensing system
  • Soft robot shape touch multi-mode self-energized flexible sensing system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as figure 1 and 2 As shown, a three-claw soft robot with a shape-touch multimodal flexible sensing system includes a soft finger 1 with shape and tactile perception functions, a clamp 2, an air duct 3, a connecting flange bracket 4, a connecting valve 5, and M2 The connecting screws 6, the M2 connecting nuts 7, and the soft fingers 1 are arranged in a circle with an interval of 60°, and are installed at an inclination angle of 15°.

[0031] Such as image 3 As shown, the soft finger 1 with shape sensing and tactile sensing functions includes a pneumatic soft finger 101, a shape sensing sensor 102 and a tactile sensing sensor 103, and the shape sensing sensor 102 is arranged on the bending layer of the soft finger 1 to detect the bending of the finger state, the tactile sensing sensor 103 is arranged in contact with the inner side of the soft finger 1 to obtain information generated when the soft robot interacts with the outside world. Pneumatic soft finger 101 i...

Embodiment 2

[0033] This embodiment is basically the same as Embodiment 1, especially in that:

[0034] Such as Figure 4 As shown, the soft robot form perception sensor includes a variable-height waveform flexible electrode 202, a positive nickel cloth friction layer 201 and a silicone negative friction layer 203, and the variable-height waveform flexible electrode is installed on the bending side of the soft robot. When entering, the side of the soft finger will elongate and bend, and at the same time, the wave-shaped flexible electrode will change from an arched state to a flat state, driving the positive friction layer on the flexible electrode to rub against the silicone surface of the soft finger as a negative friction layer , a certain charge transfer will occur based on the triboelectric principle, thereby generating a voltage signal. Since the flexible electrode has the characteristic of variable height, waveforms of different heights will contact in sequence during the bending p...

Embodiment 3

[0036] This embodiment is basically the same as Embodiment 1, especially in that:

[0037] Such as Figure 5As shown, the multi-modal tactile sensing sensor for the soft robot includes a triboelectric-based tactile sensor and a capacitive-based grip sensor, which are separated by a PDMS isolation layer 306 . The triboelectric tactile sensor is based on the principle of single-electrode triboelectricity, which includes a variable-area electrode layer 302 and a friction layer 301. The other friction layer of the single-electrode triboelectricity is a contact object. When an external object is in contact with the friction layer, a voltage is generated. Signal, and with the increase of the contact area, the signal has a linear relationship with the area. Since the variable-area electrode layer 302 is arranged in a variable area, objects with the same contact area will generate different signal values ​​when they contact electrodes with different areas. The larger the electrode ar...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a soft robot shape touch multi-mode self-energized flexible sensing system which comprises a pneumatic three-jaw soft robot, the pneumatic three-jaw soft robot comprises three soft fingers with shape touch multi-mode flexible sensing systems, and the soft fingers are distributed at intervals of 60 degrees and installed on a flange support at the inclination angle of 15 degrees. The soft fingers are connected with an external air source through air guide pipes, and bending and straightening of the soft fingers are achieved based on inflation and deflation. The integrated multi-mode sensing system can transmit state information and interaction information of the soft robot, is greatly helpful for closed-loop control and autonomous identification of the soft robot, and has a wide application prospect.

Description

technical field [0001] The invention relates to a flexible sensing system for a self-powered soft robot with morphological and tactile multimodality, belonging to the field of soft robots. Background technique [0002] When traditional rigid robots grasp objects, some fragile objects will be damaged due to excessive grasping force. Soft robots can perform some delicate, unstructured grasping tasks due to their compliance. However, unlike rigid robots, soft robots cannot be arranged with general rigid sensors due to their flexible characteristics. And due to its highly nonlinear nature, common perception techniques cannot address the needs of soft robots. Form perception and tactile perception are unique flexible perception technologies due to the characteristics of the above-mentioned soft robots. Form perception can reflect the bending state of the soft robot itself, and tactile perception can provide richer information in the interaction with the environment and humans. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J13/08H02N1/04
CPCB25J15/0023B25J13/08B25J13/084H02N1/04
Inventor 李龙顾文俊汪田鸿金滔张泉田应仲
Owner SHANGHAI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com