Expandable and reconfigurable multi-level sensing flexible robot skin

Abstract

The invention discloses an expandable and reconfigurable multi-level sensing flexible robot skin. The flexible sensing light-emitting array is connected with the data reading and processing unit and the micro-control unit. The micro-control unit is connected with the flexible robot skin expansion connection interface and the flexible robot skin data output interface. The flexible sensing light-emitting array realizes a multi-level sensing function by switching an approaching sensing mode and a pressure sensing mode, and the micro-control unit realizes sensing mode switching and reconstruction of the flexible sensing light-emitting array by controlling the data reading and processing unit. The flexible robot skin has the functions of approaching sensing, pressure sensing, detection result in-situ visualization, skin structure expandability, flexible approaching sensing unit reconfiguration and the like. Compared with a traditional single-mode resistive pressure sensor and a capacitive approaching sensor, the sensor combines the advantages of the two types of sensors, and has the characteristics of high sensitivity, simple device structure, simple manufacturing process, high spatial resolution and the like.

Description

technical field [0001] The invention relates to a robot skin in the technical field of flexible sensors, in particular to an expandable and reconfigurable multi-level sensing flexible robot skin. Background technique [0002] With the development of mechatronics and control science, collaborative robot technology is expanding from traditional manufacturing, and will be integrated into the living or working environment of human beings to provide human beings with high-quality services. Due to the frequent and seamless interactions between robots and humans, safe collaboration is the first factor to be considered and guaranteed in the design, manufacture and use of collaborative robots. Safe collaboration includes the following two aspects: 1) Humans in natural ways The ability to cooperate with robots; 2) Humans and robots will not harm human life and health when they cooperate with robots. In order for humans and cobots to coexist in a safe environment, robots must be equip...

AI Technical Summary

Problems solved by technology

While the single-mode pressure sensor has the advantages of high sensitivity, simple device structure, and simple manufacturing process, it also has the disadvantage of high power consumption.

While the single-mode proximity sensor has the advantages of low power consumption, temperature independence, and stability against long-term signal drift, it also has the disadvantage of being unable to accurately locate the contact position and contact force between the external environment object and the robot's skin.

[0004] Ordinary robot skins cannot give feedback to interactive objects or the effect is not intuitive when giving feedback to interactive objects. Usually, the sensory data obtained by the robot skin is transmitted to the host computer for analysis and decision-making

Since vision is the main input source for humans and robots to obtain information, this interaction mechanism centered on robot motion control limits the further development of human-computer interaction for humans.

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