Force detection based on position and / or motion of magnetosensitive material

Abstract

Aspects of the present disclosure relate to forces based on motion of magnetosensitive materials. In some embodiments, the first magnetosensitive material and the second magnetosensitive material may be in an initial position. In accordance with such an embodiment, one or more sensors are used to detect a force based on the relative position of the first and second magnetosensitive materials at the second location. According to some embodiments, one or more sensors may detect a profile of the magnetosensitive material, where the profile is associated with a force applied to the container. This profile includes a magnetosensitive material concentrated in one or more specific regions within the container. Related systems and methods for force detection are disclosed.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority to U.S. Provisional Application No. 63 / 370,439, filed on August 4, 2022, entitled “Force Detection Based on Position and / or Movement of Magnetically Sensitive Materials,” which is incorporated herein by reference in its entirety and for all purposes. This application claims the benefit of priority to U.S. Provisional Application No. 63 / 370,451, filed on August 4, 2022, entitled “Force Detection Based on Contour of Magnetically Sensitive Materials,” which is incorporated herein by reference in its entirety and for all purposes. Technical Field

[0003] Embodiments of the disclosed technology relate to detecting force based on the movement of a magnetically sensitive material. Background Art

[0004] Force detection and / or tactile sensing can be used in a variety of applications and for a variety of purposes. A tactile sensing system can detect touch or other contact forces on a surface. Some force detection and / or tactile systems can be based on capacitive technology. There are technical challenges associated with such systems. Summary of the invention

[0005] The innovations described in the claims have several aspects, no single one of which is solely responsible for its desirable attributes. Without limiting the scope of the claims, some of the prominent features of the disclosure will now be described briefly.

[0006] One aspect of the present invention is a system with force detection, which includes a first magnetosensitive material, a second magnetosensitive material, and one or more sensors, wherein the one or more sensors are configured to detect force based on the relative position of the first magnetosensitive material and the second magnetosensitive material.

[0007] The first magneto-sensitive material and the second magneto-sensitive material may be in different planes at an initial position, and the one or more sensors may detect a force based on the alignment of the first magneto-sensitive material and the second magneto-sensitive material.

[0008] The first magnetically sensitive material and the second magnetically sensitive material can be aligned in an initial position, and the one or more sensors can detect the force based on the first magnetically sensitive material and the second magnetically sensitive material being in different planes.

[0009] The first magnetosensitive material may include magnetosensitive particles in a fluid. The first magnetosensitive material may include magnetosensitive particles in a gel. The first magnetosensitive material may include magnetosensitive particles in a phase change material. The first magnetosensitive material may be embedded in a film or a flexible substrate. The first magnetosensitive material may include magnetosensitive particles having one or more properties to improve the detectability and / or sensitivity of one or more sensors. The first magnetosensitive material may include a solid magnetic structure.

[0010] The first magnetically sensitive material and the second magnetically sensitive material may be included in a container. The force may be applied to a surface of the container. One or more sensors may be integrated with the container.

[0011] The system may include processing circuitry configured to detect profiles of first and second magnetically sensitive materials indicative of a force based on at least one output signal from one or more sensors.

[0012] The one or more sensors may include a magnetic sensor. The one or more sensors may include an inductive sensor. The one or more sensors may detect a force by detecting at least a direction of the force.

[0013] The system can include a container containing first and second magnetically sensitive materials and an inert material configured to interact with the container and the first magnetically sensitive material.

[0014] The first magneto-sensitive material and the second magneto-sensitive material may have substantially the same composition.

[0015] Another aspect of the present invention is a force detection method, which includes providing a container having a first magnetically sensitive material and a second magnetically sensitive material therein at an initial position, and detecting a force applied to the container using one or more sensors based on the relative positions of the first magnetically sensitive material and the second magnetically sensitive material at a second position, wherein the second position is different from the initial position.

[0016] In the initial position, the first magneto-sensitive material may be located in a different plane than the second magneto-sensitive material. The first magneto-sensitive material and the second magneto-sensitive material may be aligned in the second position.

[0017] The force may be associated with the touch. The force may be a shear force.

[0018] The first magnetosensitive material may include magnetosensitive particles in a fluid. The first magnetosensitive material may include magnetosensitive particles in a phase change material. The first magnetosensitive material may include magnetosensitive particles embedded in a thin film. The first magnetosensitive material may include a solid magnetic structure.

[0019] One or more magnetic sensors may be used for detection. One or more inductive sensors may be used for detection.

[0020] The first magneto-sensitive material and the second magneto-sensitive material may have substantially the same composition.

[0021] Another aspect of the present invention is a force detection method. The method includes: providing a container having a magnetically sensitive material therein; and using one or more sensors to detect a profile of the magnetically sensitive material in the container associated with a force applied to the container, wherein the profile includes the magnetically sensitive material concentrated in one or more specific areas within the container.

[0022] The container may include one or more structures configured to facilitate actively displacing the magnetically sensitive material in response to a force applied to the container. The one or more structures may include an inert material.

[0023] Detecting may include detecting features based on a combination of the container, the contour of the magnetically sensitive material, and one or more sensors.

[0024] The container may include one or more structures having mechanical structures configured to concentrate the magnetically sensitive material in one or more specific areas.

[0025] The object may apply a force to the container. The object may include a mechanical structure configured to concentrate the magnetically sensitive material in one or more specific areas.

[0026] The profile may include magnetically sensitive material concentrated in at least two specific areas within the container.

[0027] One or more sensors may be included in the robotic handling device. One or more sensors may be included in at least one of the docking station or the charging port. One or more sensors may be included in the interlock mechanism.

[0028] The magnetically sensitive material may include magnetically sensitive particles in a phase change material, magnetically sensitive particles in a fluid, or magnetically sensitive particles embedded in a film.

[0029] The method may include detecting the temperature with a temperature sensor integrated with the container.

[0030] Another aspect of the present invention is a system with force detection. The system includes a magnetically sensitive material within a container, one or more structures configured to concentrate at least some of the magnetically sensitive material in one or more specific areas within the container in response to a force applied to the container, and one or more sensors configured to detect a profile of the magnetically sensitive material associated with the force applied to the container.

[0031] The one or more structures may include an inert material configured to facilitate actively displacing the magnetically sensitive material in response to a force applied to the container.

[0032] One or more structures may be located outside the interior volume of the container.

[0033] One or more structures may be integrated with a side of the container opposite to the force applied to the container.

[0034] The system may be included in a robotic handling device. The system may be included in a docking station or a charging port.

[0035] The magnetically sensitive material may include magnetically sensitive particles in a phase change material, magnetically sensitive particles in a fluid, or magnetically sensitive particles embedded in a film.

[0036] The system may include a temperature sensor integrated with the container.

[0037] To summarize the present disclosure, certain aspects, advantages, and novel features of the innovations are described herein. It should be understood that not all of these advantages may be achieved according to any particular embodiment. Thus, the innovations may be embodied or implemented in a manner that achieves or optimizes one or a group of advantages taught herein without necessarily achieving other advantages taught or suggested herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A , 1B 1C and 1C are schematic side views or cross-sectional views of a tactile sensor system including magnetically sensitive particles according to an embodiment.

[0039] Figure 2A , 2B 2C are schematic side or cross-sectional views of a tactile sensor system including a layer of magnetosensitive material according to an embodiment.

[0040] Figure 3A , 3B , 3C and 3D show example plan views of systems according to embodiments, the systems comprising magnetically sensitive particles embedded in a thin film or flexible substrate in different arrangements.

[0041] Figure 4A and 4B is a correlation diagram for detecting thin film motion based on measuring the resistance of a conductive material according to an embodiment.

[0042] Figure 5A and 5B Different membrane positions are shown in relation to detecting membrane or flexible substrate movement based on measuring capacitance according to an embodiment.

[0043] Fig. 6A , 6B 6C show schematic side or cross-sectional views of a system with force detection according to an embodiment.

[0044] Fig. 7A , 7B 7C shows a schematic side view or cross-sectional view of a system with force detection according to another embodiment.

[0045] Figure 8 A schematic side view or cross-sectional view of a force detection system having a periodic structure according to another embodiment is shown.

[0046] Fig. 9A and 9B A schematic side view or cross-sectional view of a force sensing system having an inert material replacing a layer with magnetically sensitive particles according to one embodiment is shown.

[0047] Fig.10 Various plan views of a film or gel according to an embodiment are shown, including magnetically sensitive particles or structures embedded in different planes.

[0048] Fig.11 Shows the Fig.10 A side view or cross-sectional view corresponding to a plan view.

[0049] Fig.12 shows an embodiment applied to Fig.10 and Fig.11 A system of forces to align magnetically susceptible particles or structures.

[0050] Fig.13A A container or housing including magnetically susceptible particles having an integrated structure according to an embodiment is shown. Fig. 13B Shows Fig.13A Example patterns of magnetic materials for integrated structures. Fig. 13C Shows that you can Fig.13A Example of an antenna coil implemented on a container. Fig.13D Shows that you can Fig.13A Example of a curved shape structure implemented on a container. Fig.13E Shows that you can Fig.13A An example coil-shaped structure implemented on a container.

[0051] Fig.14 Examples of compressed magnetic bodies and / or structures or particles having different shapes within the haptic structure are shown according to embodiments.

[0052] Fig.15 An example magnetic sensor included in a haptic system according to an embodiment is shown, which can detect the movement of magnetic bodies and / or particles within a haptic structure.

[0053] Fig.16A and 16B An example force detection system having magnetically sensitive particles within a phase change material according to an embodiment is shown.

[0054] Fig.17A , 17B 17C show an example robotic manipulator or mechanism with a force detection system according to an embodiment.

[0055] Fig.18 An example charging port (or interlock mechanism) with a tactile sensing system is shown in accordance with an embodiment.

[0056] Fig.19 An example charging arm with a tactile sensing system according to an embodiment is shown, which may be used in an electric vehicle as an example.

[0057] Fig. 20A Example shapes of magnetically susceptible particles are shown. Fig. 20B An example composite structure containing magnetically susceptible particles in a nonmagnetic material is shown. Fig. 20C An example of a magnetically sensitive particle having a magnetic material on its surface is shown. Fig.20D An example of a particle cluster is shown.

[0058] Fig.21A , 21B 21C are schematic circuit diagrams including a magnetic sensor and corresponding circuits for driving the magnetic sensor or processing signals from the magnetic sensor.

[0059] Fig. 22 An exploded schematic diagram of an example system with wireless communications in accordance with an embodiment is shown. DETAILED DESCRIPTION

[0060] The following detailed description of certain embodiments presents various descriptions of specific embodiments. However, the innovations described herein may be embodied in a variety of different ways, for example, as defined and covered by the claims. In this specification, reference is made to the accompanying drawings in which the same reference numerals may represent identical or functionally similar elements. It should be understood that the elements shown in the accompanying drawings are not necessarily drawn to scale. In addition, it should be understood that certain embodiments may include more elements and / or a subset of the elements shown than shown in the figures. In addition, some embodiments may combine any suitable combination of features from two or more of the accompanying drawings. The headings provided herein are for convenience only and do not necessarily affect the scope or meaning of the claims.

[0061] Aspects of the present disclosure relate to detecting an applied force based on the movement of a magnetically sensitive material. For example, a perpendicular force (e.g., a touch) can be applied to a surface. This can compress or deflect or move a medium containing magnetically sensitive particles. The sensor can detect the movement of magnetically sensitive particles and / or displacement or compression particle clusters and generate an output indicating the applied force. As another example, a force can be applied along a surface and the force can be similarly detected based on the movement of magnetically sensitive particles or magnetic structures having a defined shape.

[0062] One or more sensors can detect force based on the relative position of a first magnetically sensitive material and a second magnetically sensitive material. In some applications, the first magnetically sensitive material and the second magnetically sensitive material are in different planes at an initial position, and the one or more sensors are configured to detect the force based on the alignment of the first magnetically sensitive material and the second magnetically sensitive material. The force detection system may include magnetically sensitive materials on different planes. The applied force causes the magnetically sensitive materials on different planes to rearrange due to compression or deflection, thereby generating an electrical signature indicating the applied force. According to some other applications, the first magnetically sensitive material and the second magnetically sensitive material are aligned at an initial position, and the one or more sensors are configured to detect the force based on the first magnetically sensitive material and the second magnetically sensitive material being in different planes.

[0063] The shape or contour associated with the magnetosensitive material can be detected. The force detection system can include one or more structures that are combined together to actively deform the magnetosensitive structure in a specific area. Such structures may include one or more inert structures and / or structures embedded in the force detection system. These structures can have a specific shape or contour to cause particles in certain areas or regions to shift relative to the sensing structure based on the applied force. Topography can be added to the container / layer / surface that holds the particles to increase the sensitivity / detection of the contour or shape of the magnetosensitive material associated with the deformation. The combination of a container (e.g., material, shape and / or morphology, etc.), a magnetosensitive material within the container (e.g., structure size and / or shape), and one or more sensors (e.g., position and / or morphology) can provide a discernible feature indicating the applied force.

[0064] The magnetically sensitive material may include magnetically sensitive particles within a medium. The magnetically sensitive particles disclosed herein may be arranged to enhance the detectability of clusters or shapes and / or detect applied forces. Certain combinations of compressed shapes may be more easily detected through certain sensing structures. This combination may improve the sensitivity of detecting the force and / or movement of magnetically sensitive particles within the medium. The magnetically sensitive particles may also be combined with functional coatings that may, for example, reduce friction between particles, increase friction / wear, chemically react in a specific / desired manner when in contact / compressed with a specific surface material, optically respond to light of a specific wavelength (to aid optical detection), behave in a specific desired manner according to the specifications of the application (e.g., if the force is greater, mutual repulsion to handle detection), or any suitable combination thereof.

[0065] The force sensing systems disclosed herein may include magnetically sensitive particles contained in a phase change material or other material that changes viscosity with temperature.

[0066] Embodiments disclosed herein can achieve advantages over other force detection systems and methods. Unlike other force detection methods, force detection can be achieved by detecting the movement or position of a magnetically sensitive material. Accurate force measurements can be obtained using the magnetically sensitive particles and / or systems disclosed herein. Detecting the alignment of magnetically sensitive structures previously on different planes can provide reliable and accurate force detection. The position of the sensing structure in combination with the magnetic particles and / or structural shapes and the shell surface shape and topography can be modified and / or optimized to detect defined contours. Detecting shapes or contours associated with magnetically sensitive particles can be more robust and / or provide other advantages than detecting specific areas for force detection. Magnetic surfaces can be combined with force detection of phase change materials to detect temperature. Different surface topologies, sensor shapes, combinations of inert particles with defined sizes and shapes, and / or other elements of the system can be modified and / or combined to achieve topology and shape detection. The combination of a container, a magnetically sensitive material within a container, and one or more sensors can provide a discernible feature indicating an applied force. In applications where magnetically sensitive particles are included in phase change materials, force detection can be enabled and / or disabled above or below a specific temperature threshold.

[0067] The shape and / or size of the magnetically sensitive particles can be modified / optimized to increase the sensitivity of the system, i.e., the sensitivity to a specific position or direction of force. This can also be applied to the shape / size position of the magnetic sensing structure contained within the system. For example, a patterned sensing structure with a defined shape (e.g., anisotropic magnetoresistive (AMR) sensor, giant magnetoresistive (GMR) sensor, magnetoresistive (MMR) sensor, tunnel magnetoresistive (TMR) sensor and inductive sensing, fluxgate, etc.) can be located within the system to detect the movement (or aggregation) of magnetic particles in a specific position or direction. The system can also be combined with phase change materials to achieve potential temperature monitoring capabilities.

[0068] Force detection of magnetically sensitive materials

[0069] Embodiments disclosed herein relate to magnetically sensitive particles within a medium such as a film or flexible substrate or gel. The position of the magnetically sensitive particles can change in response to an applied force. The force can be applied to a surface causing the gel or film to deform. For example, a user can apply a force by touching the surface. In this example, a finger can apply a force by touching the surface. A sensor can sense the movement and / or position of the magnetically sensitive particles, which indicates the direction and / or strength of the applied force. Such force detection can be included in a tactile sensing system.

[0070] Figure 1A , 1B 1C and 1C are schematic side views or cross-sectional views of a tactile sensor system including magnetically sensitive particles according to an embodiment. Figure 1A Magnetically susceptible particles 14 contained in a medium 16 are shown.

[0071] The magnetically sensitive particles 14 may be paramagnetic, ferromagnetic or diamagnetic. The medium 16 may be a gel or a fluid or a flexible substrate. In some applications, the medium 16 may include silicone, foam, a flexible or sponge-like polymer, etc. The medium 16 may be a film. The magnetically sensitive particles 14 may be paramagnetic, for example. Paramagnetic materials include metals that have a weak attraction to magnets. Examples of paramagnetic materials include lithium, aluminum, tungsten, platinum and manganese salts. The magnetically sensitive particles 14 may be ferromagnetic. Such magnetically sensitive particles 14 may include one or more suitable ferromagnetic materials, such as iron, nickel or cobalt. In some other applications, the magnetically sensitive particles 14 may be diamagnetic and may be repelled by an applied magnetic field. Examples of diamagnetic materials include graphite, gold, bismuth, antimony, quartz and silver. The magnetically sensitive particles 14 may be conductive in certain applications. The magnetically sensitive particles 14 can be implemented according to any suitable principles and advantages disclosed in one or more of U.S. patent application No. 17 / 933,600 filed on September 20, 2022, U.S. patent application No. 18 / 299,627 filed on April 12, 2023, U.S. patent application No. 18 / 170,765 filed on February 17, 2023, U.S. patent application No. 18 / 323,798 filed on May 25, 2023, or U.S. patent application No. 18 / 053,523 filed on November 8, 2022; the technical disclosures of their respective ones are incorporated herein by reference in their entirety and for all purposes.

[0072] The magnetically sensitive particles 14 may include any suitable combination of the features of the magnetically sensitive particles disclosed herein. The magnetically sensitive particles 14 may include one or more of the following materials: iron, cobalt, nickel, graphite, chromium or any suitable alloy thereof. The magnetically sensitive particles 14 may include one or more of the following materials: Heusler alloy or chromium oxide. In certain applications, the magnetically sensitive particles 14 may include polystyrene (PS) magnetic particles. Polystyrene magnetic particles may be synthesized by embedding superparamagnetic iron oxide into polystyrene. Polystyrene magnetic particles may be positively charged (e.g., by amine modification), unmodified, or negatively charged (e.g., by carboxyl modification). In some applications, the magnetically sensitive particles 14 may include magnetic particles coated with streptavidin.

[0073] In some applications, the medium 16 can be a liquid or gel (or a flexible substrate) having a viscosity suitable for facilitating the movement of the magnetically sensitive particles 14 therein, so that the movement or position of the magnetic particles 14 can be used to detect the applied force or deformation. Such a fluid can have a density and viscosity suitable for a particular application. Example fluids for the dielectric material 16 include, but are not limited to, aqueous solutions (e.g., buffers, aqueous electrolytes, aqueous solutions containing conductive salts, solutions without conductive salts, pH buffers, salts in water, etc.), organic solutions (e.g., oils or organic solvents), aqueous or organic gels (e.g., hydrogels, PVC, polyacrylic acid, polyvinyl alcohol gels, polydimethylsiloxane gels, agarose PBS, organic solvents such as PVC gels in 2-nitrophenyl octyl ether, etc.), water, alcohol, oil, or a fluid that allows the magnetically sensitive particles to perform Brownian motion in the fluid. Depending on the specific application, the fluid / gel / material properties can be selected to deliver the desired particle motion (and sensitivity or response). In some applications, the fluid 16 can change viscosity and / or phase with temperature. Such a fluid may be any suitable fluid disclosed in U.S. Patent Application No. 18 / 053,523, filed on November 8, 2022, the technical disclosure of which is incorporated herein by reference in its entirety and for all purposes.

[0074] In some applications, the medium 16 may be a film, a sheet, a flexible layer, etc. For example, such a medium 16 may be a film in which a magnetically sensitive material is embedded, a magnetic film layer incorporated in a flexible laminate structure, a piece of material or a flexible layer on which a magnetic material is deposited or adhered. The medium 16 may be a flexible substrate. Suitable materials for the film medium 16 may include polymer materials such as SU-8, polyimide, polyvinyl alcohol, polyacrylic acid, polyvinyl alcohol, polydimethylsiloxane, poly(3,4-ethylenedioxythiophene), Nafion, polyaniline, etc. Some such polymer materials are conductive. In some cases, the medium 16 may include plastics such as polyethylene terephthalate (PET), polyethylene naphthalate, polyimide, or transparent plastic. According to some applications, the medium 16 may include a ferroelectric film. The medium 16 may include thin glass. The medium 16 may include a metal foil. Metal traces and / or attached / embedded particles may be formed on the medium 16. The medium 16 may alternatively or additionally include a metallic non-magnetic material such as Au, Cu, or Al. Medium 16 may include a magnetic material, such as NiFe, Ni, NiFeCo, CoZrTa, CoFe, etc. In some cases, medium 16 may include gold. In some cases, medium 16 may be a mesh rather than a continuous layer.

[0075] Medium 16 may be implemented according to any suitable principles and advantages disclosed in one or more of U.S. patent application No. 17 / 933600 filed on September 20, 2022, U.S. patent application No. 18 / 299,627 filed on April 12, 2023, U.S. patent application No. 18 / 170,765 filed on February 17, 2023, U.S. patent application No. 18 / 323,798 filed on May 25, 2023, or U.S. patent application No. 18 / 053,523 filed on November 8, 2023; the technical disclosures of their respective ones are incorporated herein by reference in their entirety and for all purposes.

[0076] Figure 1B A flexible layer 17 is shown on the medium 16. A container 18 is arranged to hold the magnetically susceptible particles 14 and the medium 16. The container 18 may include a flexible material. Figure 1B As shown, the magnetically susceptible particles 14 are positioned along line 1B at an initial position where no contact force is applied.

[0077] The container 18 can be implemented according to any suitable principles and advantages of the containers, housings, channels and / or compartments disclosed in one or more of U.S. Patent Application No. 17 / 933600 filed on September 20, 2022, U.S. Patent Application No. 18 / 299,627 filed on April 12, 2023, U.S. Patent Application No. 18 / 170,765 filed on February 17, 2023, U.S. Patent Application No. 18 / 323,798 filed on May 25, 2023, and U.S. Patent Application No. 18 / 053,523 filed on November 8, 2023; the technical disclosures of each of which are incorporated herein by reference in their entirety and for all purposes. Such a container 18 can be flexible and / or at least partially deformable.

[0078] Figure 1C An object 19 is shown exerting a force on the surface of the flexible layer 17. For example, the object 19 may be a finger. The force causes the flexible layer 17 and the medium 16 to deform, causing the magnetically susceptible particles 14 to move. Figure 1C It is shown that due to the applied force, the magnetically sensitive particles 14 move from line 1B to line 1B. Figure 1B Move to the position shown.

[0079] A plurality of sensors 20 may be integrated with the container 18. For example, the sensor 20 may be Figure 1CAs shown, the sensor 20 is mounted on the outer surface of the container 18. The sensor 20 can also be embedded in the container, positioned on one or more inner surfaces of the container, or positioned at another suitable location according to the specifications of the specific application. The sensor 20 can detect the movement and / or position of the magnetically sensitive particles 14 and output an indication of the force applied by the object 19. In some cases, the movement of the magnetically sensitive particles 14 is detected by the sensor 20. In certain applications, the sensor 20 can detect the position and / or distribution of the magnetically sensitive particles 14. This can detect that these positions and / or distributions are not consistent with expectations and / or deviate from the initial or previous position. In some applications, the sensor 20 can detect deformations that are permanent or that last for at least a threshold period of time.

[0080] The sensor 20 may include any suitable sensor disclosed herein. Sensing magnetically sensitive materials may be implemented by, but not limited to, magnetic sensors, housing conductivity measurements, zero-power direction detection measurements, micro-electromechanical system-based sensing, optical sensors, resistance-based sensing or capacitive sensing, or the like, or any suitable combination thereof. The example measurement system and method disclosed in U.S. Patent Application No. 17 / 933600 filed on September 20, 2020, the entire contents and all purposes of its technical disclosure are incorporated herein by reference. The sensor 20 may include a magnetic sensor array. Such a magnetic sensor array may include a magnetoresistive sensor, a fluxgate sensor, and the like. In some applications, the sensor 20 may include an inductive sensor. The inductive sensor may include a coil having an inductance that varies based on the distance between the magnetically sensitive particles 14 and the coil. For an inductive sensor, the magnetically sensitive particles may be conductive and ferromagnetic to enable the inductive sensor to achieve a relatively high sensitivity.

[0081] Figure 2A , 2B 2C are schematic side or cross-sectional views of a tactile sensor system including a layer of magnetosensitive material according to an embodiment. Figure 2B A layer of magnetosensitive material 22 is shown with a flexible layer 17 thereon. The magnetosensitive material may be a hard magnetic material. The magnetosensitive material layer 22 may be a solid layer of magnetosensitive material. The magnetosensitive material layer 22 may be a film or screen printed or sputtered or plated magnetosensitive material.

[0082] Figure 2B 2B shows the initial position of the magnetically sensitive material layer 22 in an initial position where no force is applied. The magnetically sensitive material layer 22 is positioned along line 2B, as shown in FIG. Figure 2B shown.

[0083] Figure 2C An object 19 is shown exerting a force on the surface of the flexible layer 17. This force causes the flexible layer 17 and the layer 22 of magnetosensitive material to deform. Figure 2C It is shown that the magnetically sensitive material layer 22 has been Figure 2B The position shown moves. The sensor 20 can detect this movement.

[0084] In some applications, the magnetosensitive material is part of a grid. The grid may include a two-dimensional sheet of material with a grid of magnetosensitive elements embedded in it. For example, in each direction of the sheet of material, each millimeter may contain a magnetosensitive element. Such a grid may be similar to Figures 1A-1C 2A-2C, but the flexible layer and the magnetically sensitive material are one physical piece.

[0085] In some applications, medium 16 can be suspended within a container with or without a surrounding fluid. In one example, medium 16 can be suspended in air or an inert gas. In another example, medium 16 is suspended in a liquid or gel whose viscosity is selected to adjust the sensitivity of the film to the applied force (the degree of movement in response). Medium 16 can be a film tethered to a container. Such a film can be tethered to the interior of the container and arranged so that medium 16 can deflect in response to an applied force. In some applications, when no force is applied, medium 16 can return to an initial position, for example due to the elasticity of the film material.

[0086] Figure 3A , 3B , 3C and 3D show examples of a film 36 with embedded magnetically sensitive particles or structures 14 shown in plan views according to an embodiment. The film 36 can be flexible and deform in response to a force. The film 36 can have any suitable shape for a particular application. The film 36 can combine different materials and / or structures (e.g., meshes, nanomaterials, composite layers, etc.) to promote the desired movement according to the specifications of a particular application. The magnetically sensitive particles 14 can have any suitable pattern and / or arrangement within the film 36. One or more of the shape, size, position, pattern and configuration of the particles can be selected and / or specifically configured according to the specifications of a particular application. In the example shown, a relatively elastic tether facilitates the deformation of the film 36 and the change in position of the particles 14 when a force is applied. The film 36 and the magnetically sensitive particles can be contained in a container 18. One or more of the shape, size and configuration of the container tether can be modified and / or optimized according to the specifications of a particular application.

[0087] Deflection or movement of a film having a magnetically sensitive and / or conductive material can be detected in a variety of ways. Sensing magnetically sensitive and / or conductive materials can be achieved by, but not limited to, magnetic sensors, housing conductivity measurements, zero-power direction detection measurements, micro-electromechanical system-based sensing, optical sensors, resistance-based sensing, and capacitive sensing, etc., or any suitable combination thereof. The example measurement system and method disclosed in U.S. Patent Application No. 17 / 933,600, filed on September 20, 2022, is incorporated herein by reference in its entirety and for all purposes. Any suitable principles and advantages of such a measurement system can be used for tactile and / or force detection in accordance with any suitable principles and advantages disclosed herein.

[0088] As an example, the magnetic sensor can be Figure 1B Any other suitable sensing method may be used alternatively or additionally. Resistance measurement or capacitance measurement are two other example sensing methods.

[0089] Figure 4A and 4B 1 is a correlation diagram based on measuring the resistance of a conductive material to detect the movement of a film according to an embodiment. The resistance of the conductive film can be measured to detect the movement of the conductive film. The detection can be detected by detecting tension or compression. Figure 4A As shown, tension causes the wire to become longer and thinner. Figure 4B It is shown that under the action of compressive forces, the wire can become shorter and thicker. The sensor can detect the different resistances associated with tension and compression forces. Multiple turns of film can be included to enhance the force detection of the strain gage. Strain gaging is a method of measuring elongation in which a layer with a magnetically sensitive material is covered by a resistive mesh. The strain gage can sense if the resistance changes and provide an indication of the shape change. The size, shape and / or thickness of the structure can be modified and / or optimized according to the specifications of the application.

[0090] Figure 5A and 5B Different film positions are shown in relation to detecting film movement based on measuring capacitance according to an embodiment.For this method, the magnetically sensitive particles 14 may be electrically conductive. Figure 5A shows the initial position with no force applied. Figure 5B As shown, due to the applied force, the magnetically susceptible particles 14 move upward relative to the initial position. Due to this movement, the capacitance C1 of the upper plate 52 has increased. Due to this movement, the capacitance C2 of the lower plate 54 has decreased. The change in capacitance C1 and / or C2 can be detected to measure the applied force.

[0091] Fig. 6A , 6B 6C shows a schematic side view or cross-sectional view of a system with force detection according to an embodiment. Such a system can be implemented with a temperature sensor to form a magnetic skin. The force detection system can be a tactile sensing system. In some applications, phase change materials can also be added.

[0092] like Fig. 6AAs shown, the magnetically sensitive particles 14 can be distributed in the medium 16 at an initial position. The medium 16 can be, for example, a flexible gel or silicone. A plurality of sensors 20 can be implemented on a rigid substrate 62. The sensor 20 can include any suitable sensor, such as a magnetic sensor (e.g., a magnetoresistive sensor, a fluxgate sensor, etc.) or an inductive sensor. The sensor 20 can be located in any suitable position (e.g., embedded in the rigid substrate 62, located on top of the rigid substrate 62, etc.). The sensor 20 can have any suitable shape. Depending on the specifications of the application, the surface of the rigid substrate 62 can have any suitable morphology.

[0093] Figure 6B A vertical force applied to the system is shown. The vertical pressure can compress the medium 16. Through this compression, the magnetically sensitive particles 14 can be brought closer to the sensor 20. The sensor 20 can output a signal related to the magnetic signal characteristic of the vertically applied force.

[0094] Figure 6C The horizontal force applied to the system is shown. The horizontal force can be a lateral pressure and / or a thrust. The horizontal force can cause shear deformation of the medium 16. This can cause the magnetically sensitive particles 14 to move laterally in the direction of the horizontal force. The sensor 20 can output a signal related to the magnetic signal characteristic of the horizontal applied force.

[0095] Figures 6A to 6C The system and other force detection systems disclosed herein can be implemented in various applications. The magnetically sensitive particles can be (e.g., randomly) distributed in a gel or flexible material that can form a magnetic skin for a robotic gripper or a prosthetic hand. In some applications, the magnetically sensitive particles can be contained in silicone, flexible polymers, foams, sponge materials, etc. Temperature sensors can be combined with tactile sensors to form a skin with the ability to detect hot and / or cold temperatures. Phase change materials can also be incorporated into the system. The sensor array can have a differential field sensing arrangement to reduce and / or eliminate the effects of one or more external uniform fields. The sensor array can be dense enough to detect one or more of the shape, structure, or surface topography of the object it touches. In some applications, relatively small magnets can be used instead of the magnetically sensitive particles. Such relatively small magnets can be randomly distributed in the fluid.

[0096] Fig. 7A , 7B 7C shows a schematic side view or cross-sectional view of a system with force detection according to another embodiment. Figures 7A to 7C In the system of FIG. 1 , magnetic structures 72, 74 of magnetic material are contained within the medium 16. The magnetic structures 72, 74 shown are wedge-shaped structures. Any other suitable shape of magnetic structure may be implemented. Fig. 7A The initial position is shown. Figure 7BIn the embodiment, a vertical force is applied to the medium 16 to compress the medium 16 and move the magnetic structures 72, 74. This vertical force can be a uniform force. Figure 7C In the embodiment of the present invention, a horizontal force is applied to the medium 16, causing the medium 16 to deform and the magnetic structures 72, 74 to move. This horizontal force can be a non-uniform force. The sensor 20 can detect the magnetic structures 72, 74 moving from the medium 16 to the magnetic structures 72, 74. Fig. 7A Location to Figure 7B Location and / or Figure 7C Sensor 20 may output an indication of the force applied to medium 16. One or more of the shape, profile, or composition of magnetic structures 72 and 74 may be modified and / or optimized for a particular application to increase sensitivity and / or response as desired.

[0097] The magnetic structure in the medium can have a shape that is relatively easy to manufacture and / or calibrate. Such a structure can be periodic and / or achieve relatively high sensitivity. Figure 8 FIG. 2 shows a schematic side view or cross-sectional view of a force detection system having periodic magnetic structures 82, 84 according to an embodiment. In some applications, a force detection system having periodic magnetic structures 82, 84 can achieve a higher Figures 7A to 7C The force detection system with magnetic structures 72, 74 has higher sensitivity.

[0098] The force detection system may include one or more structures to assist the medium with magnetically sensitive particles to actively deform when deflected. One or more structures may include an inert material. Fig. 9A and 9B FIG. 1 is a schematic side view or cross-sectional view of a force detection system having an inert material 92 that displaces a layer 94 having magnetically sensitive particles 14 according to one embodiment. The inert material 92 may be an inert filler material within a flexible housing 93. In this system, the inert material 92 is insensitive to magnetism. Fig. 9A and 9B As shown, inert material 92 may be included on the opposite side of layer 94 having magnetically susceptible particles. Fig. 9A The initial position is shown. Fig. 9A In the embodiment, the layer 94 with the magnetically sensitive particles 14 is in an undeformed position. The layer 94 may be, for example, a film or a flexible layer. The undeformed position may be an initial position. The undeformed position may be a position where no contact force is applied to the force detection system.

[0099] Fig. 9B The deformation due to the force applied by an object (such as a finger 95 in the figure) is shown. The inert material 92 helps to actively deform the layer 94 with magnetically susceptible particles 14 in specific areas. Fig. 9B As shown, inert material 92 facilitates replacement of layer 94 with magnetically susceptible particles 14 . Fig. 9A and9B The force detection system may include any suitable sensor or sensing system to detect the movement of the magnetically sensitive particles 14 due to the applied force. The sensor may detect a shape and / or contour associated with the applied force. The structure of the inert material 92 may affect such shape or contour. The inert structure may be modified and / or optimized according to the specifications of the application to increase sensitivity. The container 93 containing the magnetically sensitive particles in the medium may be flexible.

[0100] The magnetically sensitive material may be contained in the medium. The magnetically sensitive material may include a first magnetically sensitive material and a second magnetically sensitive material. The first magnetically sensitive material and the second magnetically sensitive material may be in different planes at an initial position. The initial position may correspond to no detectable external force being applied to the container. The shape and contour of the combined material (and container) may be constructed to enhance and / or optimize the ability of the magnetic sensing structure (AMR, GMR, MMR, TMR, inductive sensing, fluxgate, etc.) to detect the movement and / or position of the magnetically sensitive material.

[0101] Fig.10 A plan view of a plurality of containers 18 is shown, each container 18 including a magnetically sensitive material 104A, 104B on a different plane in an initial position. The container 18 may be a flexible container. The container 18 may be a flexible housing surrounding a medium including the magnetically sensitive material 104A, 104B. In some applications ( Fig.10 (not shown), the magnetically sensitive materials 104A, 104B may be contained in a film, gel or flexible material that is not enclosed in a container, and a force applied to the surface of the film or gel may be detected. The container 18 may deform in response to a force applied to the surface of the container 18. The medium in the container 18 may alternatively or additionally be compressed and / or deformed in response to a force applied to the container 18.

[0102] The magnetically sensitive materials 104A, 104B may include magnetically sensitive particles. Such magnetically sensitive particles may be in a fluid, in a gel, in a phase change material, in a flexible material, or embedded in a film. The magnetically sensitive materials 104A, 104B may include a solid magnetic structure. Such a magnetic structure may be in a fluid, in a gel, in a phase change material, in a flexible material, or embedded in a film. The magnetically sensitive materials 104A, 104B may be conductive in some applications.

[0103] exist Fig.10 In the plan view of FIG. 1 , the first magnetically sensitive material 104A and the second magnetically sensitive material 104B are located in different planes. The first magnetically sensitive material 104A and the second magnetically sensitive material 104B may have substantially the same composition. The first magnetically sensitive material 104A and the second magnetically sensitive material 104B may have different compositions.

[0104] Fig.11 Shown Fig.10A side view or cross-sectional view of the container 18, wherein the first magnetically sensitive material 104A and the second magnetically sensitive material 104B are located in different planes. Fig.11 In the illustrated several containers 18, different planes are along different dashed lines. In some cases, different magnetically sensitive materials may be on three or more different planes.

[0105] When a force is applied to the container 18, the container 18 may deform. This may cause the first magnetically sensitive material 104A and the second magnetically sensitive material 104B to align with each other. Fig.12 Shows Fig.10 and Fig.11 A side view or cross-sectional view of some of the containers 18 in which the first magnetically sensitive material 104A is aligned with the second magnetically sensitive material 104B. Fig.12 In the embodiment, the object applies a force to the container 18 to align the first magnetically sensitive material 104A with the second magnetically sensitive material 104B. Fig.12 In several views of the present invention, the first magnetosensitive material 104A and the second magnetosensitive material 104B are along the plane indicated by the dashed line. The shape and / or contour of the magnetosensitive material 104A and / or 104B can be selected so that the magnetosensitive material 104A and / or 104B can be detected by one or more sensing structures when aligned or moved in response to a force.

[0106] exist Fig.12 In the example shown, the object can be a finger 122 or a mechanical moving body 124. The object can apply a force that moves at least some of the magnetically sensitive materials 104A and / or 104B. In some cases, the finger 122 applies the force by touching the container 18. In some other cases, the mechanical moving body 124 applies the force to the container 18. The mechanical pressure on the surface (e.g., the top surface) of the container 18 can compress the medium and align the magnetically sensitive material 104A with the magnetically sensitive material 104B. Fig.12 As shown, the magneto-sensitive material 104A and the magneto-sensitive material 104B may be aligned in the same plane.

[0107] One or more sensors may detect this alignment. One or more sensors may output an electrical signal indicative of the force applied to the container 18. One or more of pressure, position, or object detection may be determined based on the electrical signals generated by the one or more sensors. The one or more sensors may include a magnetic sensor, an inductive sensor, or any other suitable sensor configured to detect the alignment of the first magnetically sensitive material 104A with the second magnetically sensitive material 104B. The detected alignment may be a partial alignment and / or a complete alignment. Alignment may be detected when the first magnetically sensitive material 104A and the second magnetically sensitive material 104B are both at least partially located in the same plane.

[0108] Force detection based on the relative position of a first magnetically sensitive material and a second magnetically sensitive material is disclosed. Although embodiments may be discussed with reference to detecting force based on alignment of first and second magnetically sensitive materials in different planes at an initial position, any suitable principles and advantages may be applied to detecting force based on the first and second magnetically sensitive materials being in different planes on which the first and third magnetically sensitive materials are aligned at an initial position.

[0109] Containers and integrated structures

[0110] The container may include one or more integrated structures, such as one or more magnetic structures, one or fewer sensors, one or more bias structures, one or more antennas, etc. The container may be implemented according to any suitable principles and advantages disclosed in one or more of U.S. Patent Application No. 17 / 933600 filed on September 20, 2022, U.S. Patent Application No. 18 / 299627 filed on April 12, 2023, U.S. Patent Application No. 18 / 170765 filed on February 17, 2023, U.S. Patent Application No. 18 / 323798 filed on May 25, 2023, or U.S. Patent Application No. 18 / 053523 filed on November 8, 2022; the technical disclosures of each of which are incorporated herein by reference in their entirety and for all purposes. The sensor may detect the magnetically sensitive material within the housing. For example, one or more sensors may detect the alignment of the magnetically sensitive material in different planes at the initial position. As another example, one or more sensors may detect a profile associated with the magnetically sensitive material when a force is applied to the container. The profile can be associated with one or more structures integrated with the side of the container, one or more structures outside the internal volume of the container, one or more inert structures configured to actively displace the magnetically sensitive material when a force is applied, or any suitable combination thereof. The temperature sensor can be implemented together with one or more sensors that detect the magnetically sensitive material. The biasing structure can be arranged to reset the position of the magnetically sensitive material within the container. Example structures that can be integrated with the container will now be discussed. Phase change materials can be included in the system structure to achieve temperature monitoring. Any suitable principles and advantages of these integrated structures can be combined with each other.

[0111] Fig.13A1 is a schematic isometric view of an example container 18 with an integrated structure 132 according to an embodiment. The container 18 can be a compressible or flexible structure containing a magnetically sensitive material in a medium. For example, the container 18 can include magnetically sensitive particles within a fluid. The structure can be a laminate including a flexible layer, a compressible material, a laminate with magnetic particles and / or a magnetic structure, etc. The integrated structure 132 can be a sensor configured to detect magnetically sensitive materials within a container, such as a magnetoresistive sensor or a fluxgate sensor. The integrated structure 132 can be located on the surface of the container 18. The integrated structure 132 can be included on and / or within one or more layers of the container 18. The integrated structure 132 can be located at any suitable location of the container 18, such as at the top and / or bottom of the container 18. The integrated structure 132 can be located on a side of the container 18 that is different from the side on which the detected force is applied. The integrated structure 132 can be located on the side of the container 18 on which the detected force is applied.

[0112] In some cases, the integrated structure 132 can be a magnetic structure. The integrated structure 132 can be a magnetic structure on the container 18. Such a magnet can be a block of magnetic material, a layer of magnetic material, or a pattern of magnetic material. The shape and / or structure of such a magnetic structure can be selected for a specific application. This can achieve detection / sensitivity to specific directions of particle movement and / or clusters, shapes, directions, etc. Fig. 13B Shows Fig.13A An example magnetic material pattern of an integrated structure 132 on a container 18, which is a magnetic structure.

[0113] Conductive structures can also be deposited on and / or integrated with a container containing magnetically sensitive particles in a fluid. Such conductive structures can provide signal transmission, manipulation and / or interaction with the magnetically sensitive particles, etc.

[0114] Fig. 13C Shows that you can Fig.13A An example of an antenna coil implemented on a container 18 of FIG. Such an antenna can wirelessly transmit a signal related to a force applied to the container 18 (e.g., the presence of a force, the magnitude of the force, the direction of the force, etc.). In some applications, the antenna can be included in a radio frequency identification (RFID) tag. Fig. 13C As shown, a pair of antennas can be implemented. For example, the antenna can be Fig.13A On the container 18.

[0115] Fig.13D Shows that you can Fig.13A An example of a curved shape structure implemented on the container 18. Fig.13A The integrated structure 132 may have Fig.13DThe meandering shape shown. The meandering shape of the structure can generate a gradient magnetic field. In some applications, the gradient magnetic field generated by the meandering shape structure can attract the magnetically sensitive particles more than the magnetic field generated by the coil. Being able to move the particles can reset the tactile system. This particle movement can be achieved in a variety of ways, such as using electromagnets.

[0116] Fig.13E Shows that you can Fig.13A An example coil-shaped structure implemented on the container 18. Fig.13A The integrated structure 132 may have Fig.13E Coil shown. Coil-shaped structures can generate magnetic fields in certain applications.

[0117] Fig.14 Example compressed magnetic bodies and / or particles within tactile structures according to embodiments are shown. These magnetic bodies and / or particles can generate magnetic flux. The magnetic bodies and / or particles can be contained within a container and / or embedded in a material within a container. The shape / size / contour can be modified to enhance and / or optimize the sensitivity and / or detection of clusters / motion, etc. by the sensing structure included within the system.

[0118] Fig.15 Provided in Fig.13A An example of an integrated structure 132 is shown, where the integrated structure is a magnetic sensor. The magnetic sensor can detect changes and / or positions of magnetically sensitive materials caused by compression of the container and / or the medium. The magnetic sensor can be included on the surface of the container, within a laminate substrate, within a stack of tactile sensing systems, etc.

[0119] Fig.15 An example magnetic sensor included in a tactile system according to an embodiment is shown, which can detect the movement of magnetic bodies and / or particles within a tactile structure. Such a magnetic sensor may include a patterned magnetoresistive (xMR) or fluxgate structure incorporated into the tactile system. These magnetic sensors can achieve relatively high sensitivity detection of magnetic particles / structures. Such detection may involve detecting one or more of proximity, movement, direction, shape / contour, etc. Depending on the specifications of the application, one or more of the shape, size, contour, or configuration of the sensing structure may be selected to improve sensitivity and / or detection of one or more of particle clusters, direction of movement, shape of an object causing deflection, etc.

[0120] The magnetic material properties and magnetic sensor properties can be selected to achieve the desired detection sensitivity for a particular application. The magnetic material properties can include one or more of size, shape, composition, etc. The magnetic sensor properties can include one or more of pattern, thickness, or material. The magnetic sensor can be, for example, an xMR sensor or a fluxgate sensor.

[0121] The sensing structure can use inductive sensing technology. Coils with inductance that varies depending on the distance to the conductive material can be used for force sensing. For conductive and ferromagnetic materials, relatively high sensitivity detection can be achieved.

[0122] Materials with changes in viscosity and / or phase

[0123] In some cases, magnetically sensitive particles can be included in a dielectric material that can change viscosity and / or state in response to temperature changes, for example, as described in U.S. Patent Application No. 18 / 053,523 filed on November 8, 2022, the entire contents and all purposes of which are incorporated herein by reference. Any suitable principles and advantages of magnetically sensitive particles in dielectric materials and / or phase change materials disclosed in U.S. Patent Application No. 18 / 053,523 can be implemented according to any suitable principles and advantages disclosed herein.

[0124] Phase change materials can be used as a medium so that particles in such phase change materials move only when the temperature is above or below a threshold temperature. Using such phase change materials, force detection can be enabled and / or disabled at specific ambient temperatures. In some cases, the medium can include a material that changes viscosity with temperature to adjust the mobility of particles within the medium. This can adjust the sensitivity of force detection based on temperature.

[0125] Incorporating phase change materials can increase sensitivity within the system. For example, a threshold temperature at which force detection begins and / or the temperature of an object near the structure can be detected. If the magnetically sensitive material does not move within the phase change material until a certain temperature is reached, an indication of the temperature of an object (near or pressing against the structure) can be monitored.

[0126] Another application involves the safety of civil infrastructure, such as bridges, structures supporting electric lines or other safety-related and / or safety-critical structures. Defects can be measured with higher deflection tolerances at low ambient temperatures and lower deflection tolerances at high temperatures. At the same time, a maximum dynamic range can be desired. By using magnetically sensitive particles for force detection in a dielectric material with a temperature-dependent viscosity, higher resolution can be achieved at higher temperatures and lower resolution at lower temperatures.

[0127] Fig.16A and 16B An example force detection system having magnetically sensitive particles 14 within a phase change material 162 is shown according to an embodiment. Fig.16A and 16B As shown, the force detection system includes a container 18 , magnetically sensitive particles 14 in a phase change material 162 , and a sensor 20 .

[0128] Phase change material 162 may be a gel or fluid that has different physical states at different temperatures. For example, phase change material 162 may be solid at room temperature and liquid at higher temperatures. At higher temperatures, magnetically sensitive particles 14 may move in phase change material 162. For example, wax, coconut oil, or fat are example materials that are solid at room temperature and liquid at high temperatures. Phase change material 162 may be used in accordance with any suitable principles and advantages of any force detection and / or tactile sensing system disclosed herein.

[0129] Fig. 16B shows that the temperature of the phase change material 162 is higher than Fig.16A , and the mobility of the magnetically sensitive particles 14 in the material 162 is higher than Fig.16A A force may be applied to compress the container 18 and move the magnetically sensitive particles 14 to Fig. 16B The sensor 20 can detect the magnetically sensitive particles 14. A measurement circuit connected to the sensor 20 can output an indication of the applied force. The measurement circuit can process one or more outputs from the sensor to determine the applied force.

[0130] Sample Application

[0131] The tactile sensing systems and / or force detection systems disclosed herein can be implemented in a variety of applications. Example applications related to robotic handling equipment, vehicle charging ports, docking stations, and charging arms will now be discussed. Tactile sensing can provide useful information for controlling robotic manipulation equipment. In electric vehicle charging applications, tactile sensing can be used to determine positioning and / or alignment related to the charging port.

[0132] The sensors can be integrated into various robotic arms with multiple fingers and / or sensor types. Such sensors can monitor objects with magnetic or specific shapes that can deform a container so that a specific shape or contour is detected. For example, particles and / or structures can move in a defined path or area after being subjected to an impact or force, so that the movement of the structure or cluster can be more easily detected with the sensing structure in the defined location. Robotic arms with tactile sensing systems can help robots perform various complex tasks such as handling fragile objects. The system can be constructed and modified as part of a locking or engagement mechanism as part of the docking process. This can enable and / or initiate certain other functions depending on the application.

[0133] The technology disclosed in this article has a large number of applications. One example application is remote surgery with tactile feedback. For example, the blade of a scalpel is not fixed, but is attached to a solid hook with very small movements. When the scalpel touches the skin, a small deflection of the blade can be detected. When the skin is cut, a smaller deflection can be detected because the hook is slightly loosened. In addition, the resistance to movement will vary depending on the nature of the tissue. The feedback that the doctor would have in a classic surgery can be reproduced.

[0134] Different combinations of sensors, magnetically sensitive materials (e.g., magnetically sensitive particle types), and media containing magnetically sensitive materials (e.g., films, flexible substrates, gels, or fluids) can achieve different sensitivities depending on the application. In some cases, conductive particles embedded in flexible films, gels, or fluids can be used for force detection.

[0135] Temperature sensors can be included in tactile sensing systems to achieve magnetic skin. This magnetic skin can detect temperature. This can provide an indication of heat (such as burns) or cold. Phase change materials can be incorporated into tactile sensing systems. Magnetic skin can provide robots with tactile information, including applied force and temperature.

[0136] Fig.17A , 17B 17C show an example robotic manipulator with a force detection system according to an embodiment. Fig.17A As shown, the robotic gripping device may include a plurality of movable robotic fingers 172A, 172B having respective tactile sensing systems 174A and 174B. Fig. 17B Another robotic gripping device is shown having a plurality of movable robotic fingers 172A, 172B having tactile sensing systems 174A and 174B, respectively. The tactile sensing systems 174A, 174B may be modules including a container, a magnetically sensitive material, and one or more sensors. The tactile sensing systems 174A and / or 174B may include measurement circuitry configured to process one or more output signals from the sensors.

[0137] The tactile sensing systems 174A, 174B may provide useful information for controlling a robotic gripping device. Such information may be used to precisely control a robotic gripping device. For example, a robotic gripping device may be connected to a robotic arm. The tactile sensing systems 174A, 174B may be implemented in accordance with any suitable principles and advantages disclosed herein. Furthermore, in certain applications, such tactile sensing systems 174A and / or 174B may be implemented with a temperature sensor. One or more of the shape, size, or configuration of the system may be modified according to the specifications of the application.

[0138] Fig. 17CA robotic arm 176 is shown with a tactile sensing system 177. Such a tactile sensing system can be implemented on a robotic finger, such as a finger. As shown, the tactile sensing system 177 includes magnetically sensitive and / or conductive particles 14 within a medium 16 in a container 18. One or more conductive paths 178 can be implemented to the surface of the container 18. The one or more conductive paths 178 can include one or more through silicon vias containing conductive material. When the tactile sensing system of the robotic arm is in physical contact with an object 179, the container 18 is compressed.

[0139] exist Fig. 17C In the embodiment of the present invention, the robotic arm 176 includes a topography that can concentrate the magnetically sensitive and / or conductive particles 14 in specific areas of the container 18 when a force is applied to the container 18. The force can be applied by the object 175. The topography can be the mechanical structure of the robotic arm. Compression of the container 18 can cause the magnetically sensitive and / or conductive particles 14 to be concentrated (e.g., aggregated) in one or more areas of the container 18. Compression of the container 18 can cause the magnetically sensitive and / or conductive particles 14 to be concentrated in two or more specific areas of the container 18.

[0140] The sensor 20 may be integrated with the container 18 to detect the magnetically sensitive and / or electrically conductive particles 14. The sensor 20 may be any suitable sensor capable of detecting clusters of magnetically sensitive and / or electrically conductive particles 14. Examples of the sensor 20 include, but are not limited to, magnetoresistive sensors, AMR / GMR / TMR sensors, and other types of suitable magnetic sensors depending on the application specifications.

[0141] A module or system in package (SIP) 180 may include processing circuitry (e.g., measurement circuitry) to detect the profile of the magnetically sensitive and / or conductive particles 14 based on the output of the sensor 20. The SIP may include one or more of processing circuitry, passive components, discrete circuit elements, chiplets, etc. The module or SIP 180 may be electrically connected to the sensor 20 via a conductive path 178, which may include, for example, Fig. 17C The features shown (e.g., through silicon vias having conductive material therein). In some cases, module or SIP 180 may include one or more antennas and wireless communication circuits configured to support reception and / or transmission of wireless signals. In certain applications, module or SIP 180 may include such antennas and wireless communication circuits. The shape, size, etc. of the components within the system may be modified as needed based on the specifications of the application.

[0142] A tactile sensing system with magnetosensitive particles may be included in a charging port connected to a docking station or any system with an interlock mechanism and / or interlock mechanism verification. Fig.18An example charging port with a tactile sensing system according to an embodiment is shown. The tactile system can be used as part of an interlocking or docking mechanism or system. The electric vehicle 182 can send and / or receive wireless signals via one or more antennas 183. The electric vehicle 182 may include a module 184 that includes magnetically sensitive particles 14 in the tactile sensing system. The docking station 185 may include a connector 186 (e.g., a plug) having a defined mechanical structure 187 or pattern. The docking station 185 may include hardware configured to implement diagnostics of the electric vehicle 182.

[0143] When the connector 186 of the docking station 185 contacts the module 184 and applies force thereto, compression causes the magnetically sensitive particles 14 to be concentrated in a defined area 188 of the container 18 of the module 184 due to the mechanical structure 187 of the connector 186. One or more sensors of the module 184 can detect the contour of the magnetically sensitive particles 14 associated with the force applied to the container 18. The one or more sensors can generate one or more output signals indicating the contour. The module 184 can include processing circuitry to process the output of the one or more sensors. The contour can be the result of the mechanical structure 187 of the connector 186 and the force applied to the container 18 including the magnetically sensitive particles 14. Alternatively or additionally, the docking station 185 can include one or more sensors to detect the contour of the magnetically sensitive particles 14.

[0144] In some applications, at least one side of the module may have a topography, contour, or mechanical structure to concentrate the magnetically sensitive material in one or more specific areas to detect forces or objects through compression of the module.

[0145] The docking mechanism may include magnetically sensitive particles (e.g., ferromagnetic particles or paramagnetic particles) within a medium (e.g., a gel or a flexible substrate). Such a docking mechanism may incorporate one or more metallic and / or magnetic structures in different planes that align when the stack is compressed. One or more sensors may detect such alignment and generate an electrical output related to the alignment. Such sensors may be used as part of a safety enabling system to engage / disengage a circuit breaker, etc.

[0146] according to Fig. 17C Any suitable principles and advantages of the embodiments may be implemented in a charging port, a docking station, or any other suitable application.

[0147] Fig.19An example charging arm 192 with a tactile sensing system according to an embodiment is shown. The charging arm 192 may include a container 18 with magnetically sensitive particles 14. The charging arm 192 may include a magnet 194 configured to generate a magnetic field. The magnet 194 may provide a magnetic bias or a reverse bias. The charging arm 192 in contact with the charging port 196 of the electric vehicle 197 may move the magnetically sensitive particles 14 in the container 18 so that the magnetically sensitive particles 14 are concentrated (e.g., aggregated) in an area of ​​the container 18 due to the mechanical structure of the charging port 196. For example, the magnetically sensitive particles 14 may be concentrated in at least two specific areas of the container 18. The tactile sensing system may detect the contour of the magnetically sensitive particles 14 associated with the charging port 196 of the electric vehicle 197 exerting a force on the container 18. The charging arm may be controlled based on the contour of the magnetically sensitive particles 14.

[0148] In certain applications, a charging port for an electric vehicle may include a tactile sensing system and bias magnets to detect contours associated with a charging arm contacting the charging port.

[0149] Magnetic sensitive particles

[0150] The magnetically sensitive particles may have one or more properties for achieving tactile sensing and / or force detection. For example, the magnetically sensitive particles may be constructed, shaped, patterned, etc. so that the magnetically sensitive particles respond to force and / or can be detected in a desired manner. As an example, spiral magnetic particles can respond to force and move in a medium, which is different from spherical or square particles. The viscosity of the medium and the shape of the magnetically sensitive particles can be balanced so that the magnetic particles move in response to the applied force. In some applications, the magnetically sensitive particles may be coated with a conductive material (e.g., gold) so that when a certain amount of particles are aggregated or arranged, a conductive path is formed between electrical contacts in the container. In some applications, the magnetically sensitive particles may be coated with a coating to enhance optical detection, such as coating to achieve one or more of the desired optical contrast, color, fluorescence, luminescence, or another optical property. In some cases, the magnetically sensitive particles may be coated so that they do not chemically react with surfaces or other structures.

[0151] The shape of the magnetically sensitive particles can affect how the magnetically sensitive particles move and aggregate in certain applications. Depending on the material of the outermost layer, the magnetically sensitive particles may stick together. In some applications, the magnetically sensitive particles may be coated with a thin material, such as Teflon or another polymer, so that there is little or no chance that the magnetically sensitive particles will stick together and / or aggregate for any reason other than response to a magnetic field. The container may include one or more conductive vias and connections from the inner surface to the exterior. The container may incorporate one or more optical conduits and / or regions to facilitate optical detection of particle clusters or movement.

[0152] The magnetically sensitive particles can be configured to move and / or respond in different ways. Sensitivity to a specific magnitude of force, such as motion, can be enhanced through specific particle structures, shapes, etc. The magnetically sensitive particles can be combined with and / or embedded in non-magnetic materials to provide the effect of a partially patterned structure. The combined structure can then be inserted into a fluid, gel, flexible substrate, or film.

[0153] In some cases, the magnetically sensitive particles may include a magnetically sensitive outer coating. For example, the magnetically sensitive particles may be polystyrene beads coated with nickel and / or another magnetically sensitive material. The total density of magnetic material of such magnetically sensitive particles may be lower than that of a uniform sphere of magnetically sensitive material. In some other examples, the magnetically sensitive particles may have a magnetically sensitive core material and a coating that is selected to enhance or inhibit interaction with each other and / or the surrounding fluid. For example, the outer coating may be polystyrene, PTFE, Teflon, or some other polymer that may inhibit the particles from adhering together rather than responding to magnetic field stimulation in the desired manner.

[0154] In some cases, the magnetically sensitive particles have an electrically conductive outer surface. For example, the magnetically sensitive particles can be coated with gold. Using such magnetically sensitive particles, it is possible to close the electrical contact between two electrodes in a container.

[0155] In some applications, the magnetically sensitive particles may have a coating with one or more specific optical properties. Through such a coating, one or more of contrast, color, luminescence or fluorescence may be achieved. The coating with one or more specific optical properties may assist in the optical detection of the magnetically sensitive particles.

[0156] The magnetically susceptible particles can be ferromagnetic, ferrimagnetic, paramagnetic or diamagnetic. Diamagnetic particles are repelled by a magnetic field. In contrast, paramagnetic and ferromagnetic particles are attracted by a magnetic field.

[0157] The magnetically sensitive particles can have any suitable size for a particular application. The size of the magnetically sensitive particles can be such that a single magnetically sensitive particle has a diameter larger than a single opening of a container. In some applications, the magnetically sensitive particles are micrometer-sized or larger. In some applications, the magnetically sensitive particles are millimeter-sized particles. The magnetically sensitive particles can be larger than the millimeter-sized. In some applications, the particle width of the magnetically sensitive particles can be in the range of about 50 nanometers to 1 millimeter. In some such applications, the particle width can be in the range of about 0.1 micrometers to 100 micrometers. In some of these applications, the particle width can be in the range of about 0.5 micrometers to 100 micrometers.

[0158] The magnetically sensitive particles can have a shape that affects their movement and / or orientation in the fluid, thereby enhancing and / or optimizing their sensitivity to applied forces. In certain applications, it may be desirable to have asymmetric magnetically sensitive particles so that the magnetically sensitive particles move in a specific manner when exposed to a magnetic field. A specific particle shape combined with a fluid or gel of a specific viscosity can provide the desired sensitivity to an applied force. For a range of target sensitivities within the system, different particle sizes and shapes can be combined as desired. The particles can also be constructed to have a shape that, for example, facilitates the aggregation or physical connection of groups of particles together.

[0159] Fig. 20A Example shapes of magnetically susceptible particles are shown.Magnetically susceptible particles can be added to inert non-magnetic materials to form a composite structure. Fig. 20B An example composite structure containing magnetically sensitive particles in a non-magnetic material is shown. The particle structure (e.g., one or more of shape, size, structure, composite material, constituent material, layer, etc.) can be modified and optimized according to the specifications of a specific application. Various processes, such as molding, printing, laser cutting, sputtering, plating, lamination, etc., can be used to manufacture composite particles containing magnetically sensitive particles so that the magnetically sensitive particles react to the magnetic field in a desired manner. For example, for an outer non-magnetic layer, when many composite particles are gathered together, they may be held in a cluster by a magnetic field / force. Such composite particles can make the non-magnetic material physically contact one or more other composite particles. This structure may be ideal to allow such composite particles to release from each other in the absence of a magnetic field. For example, spherical particles with a magnetic core and covered with polystyrene / PTFE may be less likely to stick together and may rebound from each other. The combination of particle shape (e.g., spiral shape, propeller shape, etc.) and fluid viscosity can determine the sensitivity and / or speed of the response to magnetic field stimulation. One or more of the particle shape, structure, and size can be modified and / or optimized according to the specifications of a specific application.

[0160] The magnetically sensitive particles can have a variety of sizes and densities. If all particles are the same size, the contact surface area can be relatively small. By using multiple sizes (e.g., large and small), the bridge structure can have more contact points. This can allow smaller particles to reduce resistance / increase current carrying capacity.

[0161] like Fig. 20B As shown, the magnetically sensitive particles may include a functional coating. The functional coating may attract, repel, interact, reduce friction, etc. In some applications, a sleeve or cylinder 201 with an opening in the center may have a magnetically sensitive material embedded in the wall.

[0162] The magnetically sensitive particles can have a coating with chemical activity or other functions. Functional coatings can work by affecting specific chemical, photochemical or biochemical properties. The magnetically sensitive particles can be functionalized with specific chemicals (such as amino or hydroxyl groups). For example, the magnetically sensitive particles can be coated with a surfactant-type material PTFE to reduce friction between the magnetically sensitive particles and achieve a relatively fast response time when stimulated in the container. Depending on the specifications of the specific application, an anti-reflective and / or anti-corrosion and / or antimicrobial coating can be applied. Such coatings may include, for example, Ag, Cu, organosilane, r quaternary ammonium, etc. Antibacterial surfaces can be functionalized by a variety of different processes. The coating can be applied to a surface with compounds that are toxic to microorganisms. Alternatively, the surface can be functionalized by adsorbing polymers and / or polypeptides and / or changing its microscopic and / or nanostructure.

[0163] Coatings can be applied that attract or repel certain elements. The specific coating applied may depend on the specifications of a particular system. Techniques such as nanoparticle deposition can be used to attach nanoparticles to the solid surface of magnetic / conductive particles to form a coating that reacts with specific elements.

[0164] Combinations of different particle sizes, shapes, coatings, and / or one or more other properties may improve force detection sensitivity.

[0165] Fig. 20C An example of a magnetosensitive particle with a magnetic material on its surface is shown. The material on the surface of the magnetosensitive particle can be a patterned magnetic material. The patterned magnetic material can be a soft magnetic material. The magnetosensitive particles can structure themselves in different ways by defining magnetic poles on the surface of the particle. Different stacking arrangements of the magnetosensitive particles can be achieved by different patterns of magnetic material. The presence of an external magnetic field disturbs this structure and allows the creation and removal of bridging elements. The particles can be of sufficient size to pattern the magnetic material on their surface. The particles can form chains in the direction of magnetization. It may be desirable to have an out-of-plane magnetization of the patterned magnetic material on the surface of the particle. The surface of the particle patterned with magnetic material can affect how the particle moves or responds when exposed to a changing magnetic field, or affect the detectability of the particle cluster.

[0166] The magnetically sensitive particles can have a variety of sizes and densities. If all particles are the same size, the contact surface area can be relatively small. By using multiple sizes (e.g., large and small), the bridge structure can have more contact points. This can allow smaller particles to reduce resistance / increase current carrying capacity. Fig.20D An example is shown of how combining different types of particles can lead to clusters of different shapes, which is useful for detection purposes.

[0167] Processing circuit and signal transmission

[0168] The systems and modules disclosed herein may include processing circuitry for processing one or more received signals (e.g., electrical signals) from one or more sensors of a force sensing system and / or providing one or more signals to bias and / or control one or more elements in the force sensing system.

[0169] The force detection system may include circuitry arranged to receive and process electrical signals from one or more sensors of the force detection system. Fig.21A One embodiment of a sensor 20 and processing circuitry that can be used to receive and manipulate electrical signals from the sensor 20 is shown. The processing circuitry can include an amplifier circuit 200, an analog-to-digital converter (ADC) 204, and a processor or controller 208. The amplifier circuit 200 can be electrically coupled to the sensor 20 to receive the output of the sensor 20 and perform one or more of buffering or amplifying the signals received from the sensor. The amplifier circuit 200 can include any suitable amplifier to perform buffering or amplification. The ADC 204 can convert the output of the amplifier circuit 200 from an analog signal to a digital signal. The processor or controller 208 can perform one or more of processing the received digitized signals to extract information from the digitized signals, or generate control signals based on the digitized signals.

[0170] The force detection system may include circuitry to generate and provide electrical signals to one or more sensors and / or other structures of the force detection system. Fig. 21B An embodiment of a sensor 20 and a circuit that can be used to generate and provide an electrical signal to the sensor 20 is shown. The circuit may include a processor or controller 216, a digital-to-analog converter (DAC) 220, and a driver circuit 224. The processor or controller 216 may generate a control signal representing an electrical signal to be provided to the sensor 20 or another element of the force detection system. The processor or controller 216 may generate a control signal based on a digitized signal or another signal representing a signal output by the sensor 20. The DAC 220 may receive the control signal output by the processor or controller 216 and convert the control signal from a digital signal to an analog signal. The driver circuit 224 may receive the analog signal output from the DAC 220 and provide a corresponding drive signal to the sensor 20 and / or another element of the force detection system. The driver circuit 224 may perform one or more of buffering or amplifying the signal from the DAC 220. The driver circuit 224 may include one or more transistors to perform buffering or amplification.

[0171] The force detection system may include circuitry for generating and providing an electrical signal based on signals from one or more sensors 20 (eg, signals indicative of applied force) for transmission via one or more antennas. Fig. 21CAn embodiment of a force detection system is depicted, which includes a sensor 20 and a circuit that can be used to generate an electrical signal and provide the electrical signal to a transmission element 251. The circuit may include an amplifier circuit 245, an ADC 247, a transmitter 249, and a transmitting element 251 such as a conductive coil, an antenna, etc. The amplifier circuit and the ADC can be configured and operated as described above. The transmitter circuit can be electrically coupled to the ADC to receive the digital signal output by the ADC and provide a corresponding transmission drive signal to the transmitting element.

[0172] The force detection system can communicate wirelessly with another device. Such a system can include one or more antennas that can wirelessly transmit information related to the applied force, the location of magnetically sensitive particles, object detection, the profile of magnetic materials, the alignment of magnetic structures, etc., or any suitable combination thereof. The one or more antennas can wirelessly transmit any other suitable information.

[0173] Fig. 22 An exploded schematic diagram of an example force detection system 230 according to an embodiment is shown. The force detection system 230 includes a wireless communication layer 232, which includes one or more antennas 234; a layer 236, which includes an integrated circuit, which includes a circuit of a measurement circuit; and a layer 238, which includes a container with a magnetically sensitive material (e.g., magnetically sensitive particles) for force detection control according to any suitable principles and advantages disclosed herein. Conductive vias 239 and / or traces can electrically connect the layers of the force detection system 230. For example, one or more antennas 234 can include a coil. One or more antennas 234 can be included in a radio frequency identification (RFID) tag. The wireless communication layer 232 can include circuits that support wireless signal transmission, or such circuits can be set in a lower layer, such as layer 236. Such circuits can encrypt any suitable information for wireless signal transmission. One or more antennas 234 can send encrypted data. The wireless communication layer can be incorporated into a SIP, module, or system in a variety of ways. It can be stacked or placed side by side, or it can be heterogeneously constructed using small chips (with built-in coils and structures). The force detection system 230 may also incorporate conductive coupling and / or optical communication methods. The system architecture may be modified and / or optimized according to the specifications of a particular application.

[0174] in conclusion

[0175] In the above embodiments, the apparatus, system and method for regulating fluid flow using particles in a container are described in conjunction with specific embodiments. However, it should be understood that the principles and advantages of the embodiments can be applied to any other system, device or method that needs to regulate fluid flow.

[0176] Unless the context clearly requires otherwise, throughout the specification and claims, the words "include", "comprising", etc. should be interpreted as inclusive and not exclusive or exhaustive; that is, in the sense of "including but not limited to". The word "coupled" or "connected" as generally used herein refers to two or more elements that can be directly connected or connected through one or more intermediate elements. In addition, the words "herein", "above", "below" and words of similar meaning used in this application shall refer to the entire application, not to any particular part of this application. Where the context permits, words used in the singular or plural in the detailed description may also include the plural or singular, respectively. When referring to a list of two or more items, the word "or" is intended to cover all the following interpretations of the word: any item in the list, all items in the list, and any combination of items in the list. All numerical values ​​provided herein are intended to include similar values ​​within measurement errors.

[0177] Additionally, unless specifically stated otherwise or understood otherwise in the context of use, conditional language used herein, such as "may," "might," "could," "for example," "such as," etc., is generally intended to convey that some embodiments include and other embodiments do not include certain features, elements, and / or states.

[0178] The teaching provided herein can be applied to other systems, not necessarily the above-mentioned systems. The elements and actions of the various embodiments described above can be combined to provide further embodiments. The actions of the methods discussed herein can be appropriately performed in any order. In addition, the actions of the methods discussed herein can be performed serially or in parallel as needed.

[0179] Although certain embodiments have been described, these embodiments are presented only as examples and are not intended to limit the scope of the present disclosure. In fact, the new methods and systems described herein can be embodied in various other forms. In addition, various omissions, substitutions, and changes can be made to the form of the methods and systems described herein without departing from the spirit of the present disclosure. The attached claims and their equivalents are intended to cover forms or modifications that fall within the scope and spirit of the present disclosure.

Claims

1. A system with force detection, the system comprising: a first magnetically sensitive material; a second magnetically sensitive material; as well as One or more sensors are configured to detect force based on the relative position of the first magnetically sensitive material and the second magnetically sensitive material.

2. The system of claim 1 , wherein the first magneto-sensitive material and the second magneto-sensitive material are in different planes at an initial position, and wherein the one or more sensors are configured to detect the force based on an alignment of the first magneto-sensitive material and the second magneto-sensitive material.

3. The system of claim 1 , wherein the first magnetically sensitive material and the second magnetically sensitive material are aligned in an initial position, and wherein the one or more sensors are configured to detect the force based on the first magnetically sensitive material and the second magnetically sensitive material being in different planes.

4. The system of any one of the preceding claims, wherein the first magnetically sensitive material comprises magnetically sensitive particles in a fluid.

5. The system of any of the preceding claims, wherein the first magneto-sensitive material comprises magneto-sensitive particles in a gel.

6. The system of any of the preceding claims, wherein the first magneto-sensitive material comprises magneto-sensitive particles in a phase change material.

7. The system of any of the preceding claims, wherein the first magnetically sensitive material is embedded in a thin film or flexible substrate.

8. The system of any of the preceding claims, wherein the first magneto-sensitive material comprises a solid magnetic structure.

9. The system of any of the preceding claims, wherein the first and second magneto-sensitive materials are included within a container, the force is applied to a surface of the container, and the one or more sensors are integrated with the container.

10. The system of any of the preceding claims, further comprising a processing circuit configured to detect a profile of the first and second magnetosensitive materials indicative of the force based on at least one output signal from the one or more sensors.

11. The system of any preceding claim, wherein the one or more sensors comprise magnetic sensors.

12. The system of any of the preceding claims, further comprising a container containing the first and second magnetically sensitive materials and an inert material configured to interact with the container and the first magnetically sensitive material.

13. The system of any of the preceding claims, wherein the first magneto-sensitive material and the second magneto-sensitive material have substantially the same composition.

14. The system of any preceding claim, wherein the one or more sensors are configured to detect the force by detecting at least a direction of the force.

15. A force detection method, the method comprising: providing a container having a first magnetically sensitive material and a second magnetically sensitive material therein at an initial position; and One or more sensors are used to detect a force applied to the container based on the relative positions of the first magnetically sensitive material and the second magnetically sensitive material in a second position, wherein the second position is different from the initial position. 16 . The method of claim 15 , wherein the first magneto-sensitive material is located in a different plane from the second magneto-sensitive material at the initial position.

17. A method according to claim 15 or 16, wherein the force is associated with touch.

18. A method according to any one of claims 15 to 17, wherein the force is a shear force.

19. The method of any one of claims 15 to 18, wherein the first magneto-sensitive material comprises magneto-sensitive particles in a fluid.

20. The method of any one of claims 15 to 18, wherein the first magneto-sensitive material comprises a solid magnetic structure.

21. A force detection method, the method comprising: providing a container having a magnetically sensitive material therein; and One or more sensors are used to detect a profile of magnetically sensitive material in the container associated with a force applied to the container, wherein the profile includes magnetically sensitive material concentrated in one or more specific areas within the container.

22. The method of claim 21, wherein the container includes one or more structures configured to facilitate actively displacing the magnetically sensitive material in response to a force applied to the container.

23. The method of claim 22, wherein the one or more structures comprise an inert material.

24. The method of any one of claims 21 to 23, wherein the detecting comprises detecting a feature based on a combination of the container, a profile of the magnetically sensitive material, and the one or more sensors.

25. The method of any one of claims 21 to 24, wherein the container comprises one or more structures having mechanical structures configured to concentrate the magnetically sensitive material in the one or more specific areas.

26. The method of any one of claims 21 to 25, wherein an object applies a force to the container, and the object comprises a mechanical structure configured to concentrate the magnetically sensitive material in the one or more specific areas.

27. A method according to any one of claims 21 to 26, wherein the profile comprises magnetically sensitive material concentrated in at least two specific areas within the container.

28. A method according to any one of claims 21 to 27, wherein the one or more sensors are comprised in a robotic handling device.

29. The method of any one of claims 21 to 27, wherein the one or more sensors are included in at least one of a docking station or a charging port.

30. The method of any one of claims 21 to 27, wherein the one or more sensors are included in an interlock mechanism.

31. A method according to any one of claims 21 to 30, wherein the magneto-sensitive material comprises magneto-sensitive particles in a phase change material.

32. A method according to any one of claims 21 to 31, wherein the magnetically sensitive material comprises magnetically sensitive particles in a fluid.

33. The method of any one of claims 21 to 31, wherein the magnetosensitive material comprises magnetosensitive particles embedded in a thin film.

34. A system with force detection, the system comprising: Magnetically sensitive materials in containers; one or more structures configured to concentrate at least some of the magnetically sensitive material in one or more specific areas within the container in response to a force applied to the container; and One or more sensors are configured to detect a profile of the magnetically sensitive material associated with a force applied to the container.

35. The system of claim 34, wherein the one or more structures include an inert material configured to facilitate actively displacing the magnetically sensitive material in response to a force applied to the container.

36. The system of claim 34 or 35, wherein the one or more structures are located outside the interior volume of the container.

37. A system according to any one of claims 34 to 36, wherein the one or more structures are integrated with a side of the container opposite to the force applied to the container.

38. A system according to any one of claims 34 to 37, wherein the system is included in a robotic manipulator.

39. The system of any one of claims 34 to 37, wherein the system is included in at least one of a docking station or a charging port.

40. The system of any one of claims 34 to 39, further comprising a temperature sensor integrated with the container.

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