Compact 6-degree-of-freedom force sensor and method

Abstract

A sensor having multiple sensor elements that sense six degrees of freedom of force on a touch layer. The sensor includes a computer that sends prompt signals to the sensor elements and reconstructs the six degrees of freedom of force on the layer from the data signals received from the touch sense elements. A method of sensing force. A robotic hand with fingers equipped with sensors at the ends. Alternatively, the sensor includes a ribbon cable.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This is a non - provisional application of U.S. Provisional Application Serial No. 63 / 472,725, filed on June 13, 2023, which is incorporated herein by reference.

[0002] (Technical Field) The present invention relates to a six - degree - of - freedom (DOF) force sensor. More specifically, the present invention relates to a six - degree - of - freedom force sensor that uses sensor elements that change current according to the compressive force applied to a touch layer.

Background Art

[0003] This section is intended to introduce the reader to various aspects of the relevant art that may be related to various aspects of the present invention. The following discussion is intended to provide information for a better understanding of the present invention. Therefore, the descriptions in the following discussion should be read from this perspective and should not be construed as an admission of prior art.

[0004] Current - generation six - degree - of - freedom isometric force sensors are heavy and bulky, and cost thousands of dollars or more. What is needed is a lightweight and compact six - degree - of - freedom force sensor. In the prior art, in one embodiment, a relatively large and bulky unit including multiple strain gauges is used to address such problems. Such a solution is not suitable for use when the object to be manipulated is small and lightweight. The present invention solves that problem.

Summary of the Invention

[0005] The present invention relates to a sensor that includes a touch layer. The sensor consists of a plurality of sensor elements that sense six degrees of freedom of force on the touch layer. The sensor includes a computer that communicates with the sensor elements, sends a prompt signal to the sensor elements, and reconstructs six degrees of freedom of force on the touch layer from the data signals received from the sensor elements.

[0006] The present invention relates to a force sensing method comprising the step of applying force to a touch layer. The method comprises the step of a computer sending prompt signals to a plurality of sensor elements. The computer receives data signals from the sensor elements. From the data signals received from the sensor elements, the computer determines the six degrees of freedom of the force applied to the touch layer.

[0007] The present invention relates to a robotic hand. The robotic hand comprises fingers with an end. The robotic hand is equipped with multiple sensors at the fingertips, which function as 6-degree-of-freedom sensors at the fingertips, and each of the multiple sensors is a 6-degree-of-freedom sensor.

[0008] The present invention relates to a sensor. This sensor comprises six sensor elements, each having a touch layer. Each sensor element changes its current in response to the compressive force applied to the touch layer. The sensor consists of a ribbon cable having power wiring that supplies power to the six sensor elements and six return wiring through which signals from the six sensor elements are transmitted, with one of the six return wirings connected to one of the six sensor elements. The sensor includes a computer connected to the power wiring and the six return wiring to supply power to the six sensor elements and to receive signals from the six sensor elements. [Brief explanation of the drawing]

[0009] [Figure 1A] Figure 1A shows the sensor of the claimed invention. [Figure 1B] Figure 1B shows the power supply wiring of the claimed invention. [Figure 1C] Figure 1C shows the return wiring of the claimed invention. [Figure 1D] Figure 1D shows the scale relative to the grid spacing (1 mm). [Figure 1E] Figure 1E is a perspective view of the sensor. [Figure 2] Figure 2 is a cross-sectional view of the top layer. [Figure 3] Figure 3 is a cross-sectional view of the bottom layer. [Figure 4] Figure 4 shows the top layer, bottom layer, controller, power / data ports, and FPC connector. [Figure 5] Figure 5 shows the sensor with a finger placed on it. [Figure 6A] Figure 6A is a side view of the sensor on the robot finger. [Figure 6B] Figure 6B is a top view of the sensor on the robot. [Figure 7] Figure 7 is a top view of an alternative embodiment of the sensor of the claimed invention. [Figure 8] Figure 8 is a front view of the sensor in an alternative embodiment. [Figure 9] Figure 9 schematically shows the six degrees of freedom of the applied force. [Figure 10] Figure 10 is the circuit diagram of the sensor. [Modes for carrying out the invention]

[0010] Here, referring to drawings where similar reference numerals indicate similar or identical parts across multiple figures, more specifically Figures 1A-1E and 7, the sensor 10 is shown. The sensor 10 comprises a touch layer 12. The sensor 10 comprises a plurality of sensor elements 14 that sense six degrees of freedom of force on the touch layer 12. As shown in Figure 4, the sensor 10 comprises a computer 16 that communicates with the sensor elements 14, prompting the sensor elements 14 to send prompt signals and reconstructing the six degrees of freedom of force on the touch layer 12 from the data signals received from the sensor elements 14.

[0011] Each sensor element may include at least two conductors 18. One of the two conductors 18 is a power supply line 20 that supplies a prompt signal from the computer 16 to the sensor element, and the second of the two conductors 18 is a return line 22 that transmits data signals from the sensor element to the computer 16. The touch layer 12 may include a contact surface 24 to which six forces can be applied: three linear degrees of freedom and three rotational torsional degrees of freedom. There may be a first sensor element 26, a second sensor element 28, and a third sensor element 30.

[0012] Each sensor element may include an activator 32, a first patch 34 at least partially positioned below the activator 32, and a second patch 36 at least partially positioned below the activator 32, as shown in Figure 7. The activator 32 of the first sensor element 26 may include a first rod 38 attached to the contact surface 24. The activator 32 of the second sensor element 28 may include a second rod 40 attached to the contact surface 24. The activator 32 of the third sensor element 30 may include a third rod 42 attached to the contact surface 24.

[0013] The contact surface 24 may have a center 44. The activator 32 of the first sensor element 26 may be equipped with a first guide 46 that contacts the first rod 38, thereby allowing the contact surface 24 and the first rod 38 to move freely in the radial direction around the center 44 without any angle. The activator 32 of the second sensor element 28 may be equipped with a second guide 48 that contacts the second rod 40, thereby allowing the contact surface 24 and the second rod 40 to move freely in the radial direction around the center 44 without any angle. The activator 32 of the third sensor element 30 may be equipped with a third guide 50 that contacts the third rod 42, thereby allowing the contact surface 24 and the third rod 42 to move freely in the radial direction around the center 44 without any angle.

[0014] The activator 32 of the first sensor element 26 may include a first beam 52 attached to the first guide 46. The activator 32 of the second sensor element 28 may include a second beam 54 attached to the second guide 48. The activator 32 of the third sensor element 30 may include a third beam 56 attached to the third guide 50. The first beam 52 may have a first contact point 58 with a first patch 34 below the first beam 52 and a second contact point 60 with a second patch 36 below the first beam 52. The second beam 54 may have a first contact point 58 with the first patch 34 below the second beam 54 and a second contact point 60 with the second patch 36 below the second beam 54, and the third beam 56 may have a first contact point 58 with the first patch 34 below the third beam 56 and a second contact point 60 with the second patch 36 below the third beam 56.

[0015] Each first patch 34 and each second patch 36 may be a downward pressure sensor 6. The sensor 10 may include a spring 62 that supports the first beam 52, positioned below the first beam 52 between a first contact point 58 and a second contact point 60. The first guide 46 may comprise a first post 64 and a second post 66, with a first rod 38 positioned between the first post 64 and the second post 66. The base of the spring is fixed in position and acts as a rotational pivot, thereby constraining the beam to rotate around the base of the spring rather than translating laterally when a lateral force is applied to the beam by the rod.

[0016] In an alternative embodiment, referring to FIGS. 1A, 1B, 1C, 1D, and 1E, the contact surface 24 can include a first bump 68, a second bump 70, and a third bump 72. The first sensor element 26 can include a first top layer 74 to which the first bump 68 is attached, a first bottom layer 76 having at least a portion disposed under the first top layer 74, and a second bottom layer 78 having at least a portion disposed under the first top layer 74. The second sensor element 28 can include a second top layer 80 to which the second bump 70 is attached, a third bottom layer 82 having at least a portion disposed under the second top layer 80, and a fourth bottom layer 84 having at least a portion disposed under the second top layer 80. The third sensor element 30 can include a third top layer 86 to which the third bump 72 is attached, a fifth bottom layer 88 having at least a portion disposed under the third top layer 86, and a sixth bottom layer 90 having at least a portion disposed under the third top layer 86.

[0017] The first, second, and third top layers 74, 80, 86 can each include, as shown in FIGS. 1E and 2, a substrate 92 that contacts the first, second, and third bumps 68, 70, 72, respectively, a power supply wiring 20 that contacts the substrate 92, a variable force resistance material 94 that contacts the power supply wiring 20, and an adhesive 96 that contacts the force resistance material 94, and the power supply wiring 20 is disposed between the substrate 92 and the force resistance material 94. Each bottom layer can include a force resistance material 94, a return wiring 22 that contacts the variable force resistance material 94 of the bottom layer, and a substrate 92 that contacts the force resistance material 94 of the bottom layer, and the force resistance material 94 of the bottom layer is disposed between the substrate 92 and the return wiring 22 of the bottom layer and is shown in FIG. 3.

[0018] The return wiring 22 of the first bottom layer 76 may be the first return wiring 98. The return wiring 22 of the second bottom layer 78 may be the second return wiring 100. The return wiring 22 of the third bottom layer 82 may be the third return wiring 102. The return wiring 22 of the fourth bottom layer 84 may be the fourth return wiring 104. The return wiring 22 of the fifth bottom layer 88 may be the fifth return wiring 106. The return wiring 22 of the sixth bottom layer 90 may be the sixth return wiring shown in FIG. 1C.

[0019] The piezoresistive material 94 of the first top layer 74 can contact the piezoresistive materials 94 of the first bottom layer 76 and the second bottom layer 78 using the adhesive 96 of the first top layer 74 disposed between the first top layer 74 without the piezoresistive material 94 and the first and second bottom layers 76, 78. The piezoresistive material 94 of the second top layer 80 can contact the piezoresistive materials 94 of the third bottom layer 82 and the fourth bottom layer 84 using the adhesive 96 of the second top layer 80 disposed between the second top layer 80 without the piezoresistive material 94 and the third and fourth bottom layers 82, 84. The piezoresistive material 94 of the third top layer 86 can contact the piezoresistive materials 94 of the fifth bottom layer 88 and the sixth bottom layer 90 using the adhesive 96 of the third top layer 86 disposed between the third top layer 86 without the piezoresistive material 94 and the fifth and sixth bottom layers 88, 90. Using the FSR-based technology described here, the sensor 10 can be miniaturized to 5×5×0.25 mm and sold for less than $1000.

[0020] The present invention relates to a method for detecting a force having a step of applying a force to the touch layer 12. There is a step of sending a signal to prompt a plurality of sensor elements 14 by the computer 16. There is a step of the computer 16 receiving a data signal from the sensor elements 14. There is a step of specifying the six degrees of freedom of the force applied to the touch layer 12 by the computer 16 from the data signal received from the sensor elements 14.

[0021] The present invention relates to a robot hand 112 as shown in Figures 6A and 6B. The robot hand 112 consists of fingers 114 having tips 116. The robot hand 112 consists of a plurality of sensors 10 provided on the tips 116 of the fingers 114, and these sensors 10 function as a 6-degree-of-freedom sensor covering the tips 116 of the fingers 114, with each of the plurality of sensors 10 being a 6-degree-of-freedom sensor.

[0022] The present invention relates to a sensor 10 as shown in Figures 1A-1E and 4. The sensor 10 consists of six sensor elements 14, each having a touch layer 12. The current of each sensor element 14 changes in response to the compressive force applied to the touch layer 12. The sensor 10 consists of a ribbon cable 118 having a power supply wiring 20 that supplies power to the six sensor elements and six return wirings to which signals from the six sensor elements are sent, with one of the six return wirings connected to one of the six sensor elements. The sensor 10 consists of a computer 16 connected to the power supply wiring 20 and the six return wirings in order to supply power to the six sensor elements and receive signals from the six sensor elements.

[0023] hardware Computer 16 • Ribbon cable 118 with 7 conductive wires • Sensor 10 that changes current in response to compressive force on the surface

[0024] Any type of sensor can be used as long as it can change the current in response to a compressive force perpendicular to the sensor surface. In one embodiment, the sensor 10 is based on force-sensitive resistance (FSR). In another embodiment, the sensor 10 is piezoelectric.

[0025] The touch surface 12 of the sensor 10 has three small raised bumps 68, 709, and 72, with one bump located where the letter P is displayed in Figure 1 A-1D.

[0026] Sensor 10 consists of two layers, each having a substrate 92 (in this embodiment, the substrate 92 is 7 mil thick PET), conductive traces (signal / power and return wiring made of conductive material such as DuPont PE827 silver composite conductor used in this embodiment), and a variable force sensor element (in this embodiment, a semiconducting mixture of carbon and silver-based conductive elements is used to create a variable force resistance material [FSR]). One layer of sensor 10 (the top layer) also has adhesive 96 (used to bond the two layers together) and spacers or protrusions or bumps on each P pad, thus forming an additional height (between 0.2 and 0.25 mm in this embodiment). The bottom layer, consisting of patches A to F in Figure 1C and formed as separate stacks for each patch A to F as shown in Figure 3, has A and B under the first P pad, C and D under the second P pad, and E and F under the third P pad, and Figure 1E is an exploded perspective view showing the relationships of the various elements.

[0027] Figure 4 shows the top of the sensor 1, the bottom of the sensor 2, the computer 3, the power / data port 4, and the FPC connector 5.

[0028] In one sensor layer, the only conductive portion facing and in contact with the other sensor layer is the FSR of each layer. This acts as a variable resistor. The adhesive 96 adheres to the parts not covered by the FSR. The FSR is facing another layer. Only one layer of adhesive 96 is needed. From a practical standpoint, it also functions as a dielectric.

[0029] Internal operation The interaction between the computer 16 and the sensor 10 is as follows: 1. Computer 16 continuously applies a constant current through wiring P. 2. The variable current is continuously returned to the computer 16 via wiring A to F.

[0030] When a downward pressure is applied directly to the bumps in the center of regions C and D in Figure 1, the current in both wires increases equally. On the other hand, when a lateral pressure is applied to the bump from C to D, a tilting force is generated in the region around the bump, increasing the current in wire D and correspondingly decreasing the current in wire C. Similar effects occur with pressure applied to the bumps on regions A and B, and on the bumps on regions E and F. In this way, the six degrees of freedom of force that can be applied to the surface (three degrees of freedom linear force and three degrees of freedom rotational torque) result in changes in the currents of the six wires A through F.

[0031] Computer 16 derives the three degrees of freedom of the measured linear force as follows: Linear force on X: (DC) + (AB) / 2 + (EF) / 2 Linear force on Y: (AB) * √3 / 2 + (FE) * √3 / 2 Linear force of Z: (A+B)+(C+D)+(E+F)

[0032] Computer 16 derives the three degrees of freedom of the measured rotational torque as follows: Torque related to X: (E+F)-(A+B) Torque related to Y: (A+B) / 2 + (E+F) / 2 - (C+D) Torque related to Z: (BA) + (DC) + (FE)

[0033] User experience When a finger 114 is placed on the sensor 10, a total of six-dimensional isometric forces can be applied: three linear forces and three rotational forces. As shown in Figure 5, contact friction prevents the finger 114 from slipping on the surface of the sensor 10.

[0034] Alternatively, one or more sensors 10 can be placed around the surface of the robot finger 114. For example, in Figures 6A and 6B, six sensors 10 are placed around the tip 116 of the robot finger 114. Each of the six sensors 10 is a complete 6DOF sensor with three bumps and seven electrical connections. The advantage of this arrangement is that the finger 114 can function as a 6DOF sensor across the entire hemisphere of the tip 116 of the finger 114.

[0035] Usage example

[0036] Robotic hand manipulator The robotic hand 112, which manipulates physical objects, needs to properly sense the force of the object on its robotic fingers in order to determine the optimal control strategy for grasping and moving the object. Current small form factor force sensors only detect downward forces perpendicular to the surface of the robotic finger 114.

[0037] This configuration is insufficient to address situations where an object is likely to slip from the robot hand's grip due to a three-dimensional rotational force (torque) or a two-dimensional linear force (shear) along the surface of the robot finger. Therefore, it is extremely useful that the force sensor can sense all three degrees of torque and three degrees of linear force (a downward force acting directly on the robot finger 114 and an additional two degrees of shear force at the point of contact).

[0038] For example, when a robot grasps an object with its thumb and index finger and picks it up from a table, the object's weight may be unbalanced. In some cases, the weight may be concentrated on the thumb side of the object. If the robot simply grips the object with its thumb and index finger and begins to lift it, the unbalanced weight of the object will cause it to rotate, with the thumb side moving downwards. This can cause the object to fall from the robot's gripping hand. By using the present invention, the robot can detect a greater downward shear force on the surface of its thumb than on its index finger. The robot can then respond by rotating the robot hand 112 until the downward shear forces on the robot's thumb and index finger are equal. This indicates that in this new direction of rotation, the object's weight is centered horizontally, making it safe for the robot hand 112 to lift the object from the table.

[0039] Control of portable consumer devices In another use scenario, small consumer devices such as cameras have very limited space for button controls. Furthermore, when users operate the camera, they are often looking through the lens, making these controls invisible. The small form factor 6-degree-of-freedom force sensor described here can be used for multi-purpose control because each degree of freedom provides an independent degree of control. Therefore, to perform multiple controls such as shutter speed and focal length, the user does not need to search for the location of multiple control buttons; they simply need to hold their finger 114 in one place on the camera surface.

[0040] For example, the user can place finger 114 on the button and press it forward to zoom in, simultaneously tilt finger 114 forward or backward to adjust the focus, and press it left or right to open or close the shutter. When the user is ready to take a picture, they press the button.

[0041] Current state-of-the-art 6-degree-of-freedom force sensors are far too expensive, large, and heavy to be used for this purpose.

[0042] Walking cane This sensor 10 is convenient to incorporate into a walking cane. In one embodiment, the sensor 10 is positioned between the handle at the tip of the cane and the main axis of the cane. In addition to measuring the downward force and how much weight the user puts on the cane when leaning on it, the sensor 10 also measures the torsional force (twist around the vertical axis) and the pitch and yaw forces (twist around the two horizontal axes) applied by the user's wrist. The time-varying magnitude of these torsional forces can be stored in the memory of a microcomputer within the cane or transmitted wirelessly to a remote base computer 16. In either case, the collected data can be used by a physiotherapist to assess the user's level of instability and help in designing custom physiotherapy.

[0043] Alternative Embodiments Mechanical components of a 6-degree-of-freedom optical sensor (see Figure 7) 1. A contact surface 24 that allows the user to apply six levels of force (3DOF linear force and 3DOF rotational torsional force). 2. Three rods 38, 40, and 42 are securely attached to the contact surface 24. 3. The three guides 46, 48, and 50, which contact the three rods 38, 40, and 42 respectively, allow the contact surface 24 and the three rods 38, 40, and 42 to move freely around the center of the contact surface 24 in a radial direction rather than an angular direction. 4. The three beams 52, 54, and 56 are securely attached to the three guides 46, 48, and 50, respectively. 5. Contact points 58, 60 between beams 52, 54, 56 and downward pressure sensor 6. 6. Six downward pressure sensors 6 (which are FTIR sensors in one embodiment) measure the force exerted on the contact points 58, 60 of each downward pressure sensor 6. 7. A small spring 62 (shown only in Figure 8) supports the beam 52 in the center.

[0044] Figure 8 shows a front view. One rod 64 is sandwiched between rods 64 and 66 of a guide 46 that connects the beam 52. The beam 52 is connected to two contact points 58 and 60 that press down the pressure sensor 6. A support spring 62 ensures that the lateral force from the first rod 64 is converted into a rotational torque around the base of the spring 62.

[0045] Step-by-step user operation The user places the tip 116 of their finger 114 on the contact surface 24. The user can apply linear forces downward, north, south, east, and west, as well as variable forces combining torsion and inclination in the east-west and north-south directions. There are a total of six force levels, three of which are linear forces and the remaining three are torsional forces.

[0046] Step-by-step internal operation When a user applies force to the contact surface 24, the force is distributed to the three rods 38, 40, and 42, which are constrained by the three guides 46, 48, and 50 and the three beams 52, 54, and 56. The three rods 38, 40, and 42 exert force on the three beams 52, 54, and 56 in a combination of two directions: (a) downward and (b) laterally to the three guides 46, 48, and 50.

[0047] Meanwhile, the support springs 62 apply a constant upward force to the center of each beam.

[0048] The lateral movement of each rod is converted into rotational motion due to the physical constraints of attaching each beam to each support spring 62, which supports each beam from below at its center. The center of rotation of this beam is the base of the spring on which the beam rests. The resulting rotational torque increases the downward force on one end of the beam and decreases the downward force on the other end. In this way, the two degrees of freedom of the rods—the radial force and the downward force they exert on the beam below—are converted into downward forces on the beam at each of the two contact points. These forces are transmitted by the contact points to two corresponding downward pressure sensors 6 located directly below the contact points.

[0049] Due to the mechanical arrangement described above, the downward force of the rod relative to the beam is converted into an equal downward force on the two adjacent sensors, while the lateral force of the rod relative to the beam is converted into a differential downward force, meaning that the force on one of the two downward pressure sensors below the beam becomes larger, and the force on the other becomes smaller.

[0050] When these are combined, the 6-degree force (3 degrees translation and 3 degrees twist) exerted by the user's finger 114 on the contact surface 24 is converted into six downward forces (one for each of the six downward force sensors 6).

[0051] analysis Let's define it. The X-axis is on the right side of Figure 7. • The Y-axis is upward in Figure 7. • The Z-axis is outside the page of Figure 7.

[0052] The six sensors and three main directions can be labeled as shown in Figure 9.

[0053] Let's break down the six degrees of freedom of the applied force as follows: (1) Linear force applied along the Z-axis (2) Torsional force around the Z axis (3) Linear force applied in the XY plane (4) Torsional forces around the X and Y axes

[0054] A linear force in the XY plane can be linearly decomposed into a linear force in the X direction and a linear force in the Y direction. For the purposes of this analysis, this force is decomposed into three equal linear forces. Due to symmetry, the sum of these three forces is always zero.

[0055] The linear force in direction A does not affect the two adjacent sensors a1 and a2 because the direction of the force is perfectly radial. In directions B and C, the direction of the force is 120 degrees from these directions, and the cosine of that angle is -0.5, so the radial component of the resulting force is 50%. The radial forces generated in B and C produce an upward force (negative) on sensors b2 and cl, and a downward force (positive) on sensors bl and c2.

[0056] Since half of the applied force F is distributed in direction B and the other half in direction C, the net effect is a downward force amplitude of +F / 4 at bl, -F / 4 at b2, -F / 4 at cl, and +F / 4 at c2.

[0057] Similarly, the twist caused by tilting toward A generates a torque F, which causes a downward force of +F / 2 on sensors a1 and a2. On the other hand, the upward pulling force of B and C due to this torque generates an upward force of -F / 4 on each of b1, b2, cl, and c2.

[0058] Similarly, the twist caused by rotation around the A axis generates positive (downward) forces on al, cl, and c2, and negative (upward) forces on a2, bl, and b2.

[0059] Note that in all of the above cases, there is no net rotational force around Z, nor is there a net downward force in the Z direction.

[0060] In summary, the six forces / torques are proportional to the following values: Linear force in direction A: +b1-b2-c1+c2 Rotational torque related to A: +a1-a2-b1-b2+c1+c2 Linear force in direction B: -a1+a2+c1-c2 Rotational torque around B: +a1+a2+b1-b2-c1-c2 Linear force directed toward C: +a1-a2-b1+b2 Rotational torque related to C: -a1-a2+b1+b2+c1-c2 Linear force in the Z direction: +a1+a2+b1+b2+c1+c2 Rotational torque around the Z-axis: -a1+a2-b1+b2-c1+c2

[0061] To change the coordinates from A, B, C to X, Y Force in the X direction = + Force in the B direction - Force in the C direction Force in the Y direction = -Force in the A direction

[0062] electronics FTIR sensors are well-known in this field, and no innovation is claimed regarding this component. In one implementation, an Inolux IN-S32HSNPD SMD 3.0×2.0 PCB type photodiode can be used as the illumination component for each FTIR sensor. For the sensor component, an OSRAM LZ1-00R602 LED ENGIN LuxiGen can be used. By connecting these two components, the required six FTIR sensors are configured.

[0063] Figure 10 shows the circuit diagram of each of the six sensors, each of which is illuminated by a constant infrared light source from an infrared (IR) light-emitting diode (LED).

[0064] The microprocessor provides a constant 5V voltage input to the LEDs. Changes in downward pressure to each sensor 10 are converted into changes in the voltage of the circuit to which the sensor 10 is connected.

[0065] The microprocessor periodically prompts for data readout, reading the output voltages of the six sensors into the microprocessor's six analog-to-digital input pins. The voltages are then converted to digital values ​​and sent by the microprocessor to the host computer 16 for analysis, as described in the “Analysis” section above. Communication between the microprocessor and the host computer 16 is implemented via standard serial digital communication techniques. Power traces supply power to each sensor element, and the six return traces from the six downward pressure sensors 6 operate as described above in the first embodiment.

[0066] The present invention has been described in detail in the embodiments described above for illustrative purposes only, and it should be understood that such details are for illustrative purposes only and can be modified by those skilled in the art without departing from the spirit and scope of the invention, except as described in the following claims.

Claims

1. It is a sensor, Touch layer and Multiple sensor elements that sense force in six degrees of freedom on the touch layer, A computer that communicates with the sensor element, the computer that sends a prompt signal to the sensor element and reconstructs the force of the six degrees of freedom on the touch layer from the data signal received from the sensor element, A sensor equipped with the following features.

2. Each sensor element includes at least two conductors, one of which is a power supply wire that provides the prompt signal from the computer to the sensor element, and the second of which is a return wire that transmits the data signal from the sensor element to the computer. The sensor according to claim 1.

3. The touch layer includes a contact surface to which a force of 6 degrees, i.e., a linear force of 3 DOF and a rotational torsion of 3 DOF, is applied. The sensor according to claim 2.

4. A first sensor element, a second sensor element, and a third sensor element exist. The sensor according to claim 3.

5. Each sensor element includes an activator, a first patch having at least a portion below the activator, and a second patch having at least a portion positioned below the activator. The sensor according to claim 4.

6. The activator of the first sensor element includes a first rod attached to the contact surface, the activator of the second sensor element includes a second rod attached to the contact surface, and the activator of the third sensor element includes a third rod attached to the contact surface. The sensor according to claim 5.

7. The contact surface has a center, and the activator of the first sensor element has a first guide that abuts against the first rod, so that the contact surface and the first rod can move freely in the radial direction around the center, but not freely in the angular direction. The activator of the second sensor element has a second guide that contacts the second rod, thereby allowing the contact surface and the second rod to move freely radially around the center, but not freely in the angular direction. The activator of the third sensor element has a third guide adjacent to the third rod, which allows the contact surface and the third rod to move freely radially around the center, but not freely in the angular direction. The sensor according to claim 6.

8. The activator of the first sensor element includes a first beam mounted on the first guide, the activator of the second sensor element includes a second beam mounted on the second guide, and the activator of the third sensor element includes a third beam mounted on the third guide. The sensor according to claim 7.

9. The first beam has a first contact point with a first patch below it and a second contact point with a second patch below it; the second beam has a first contact point with a first patch below it and a second contact point with a second patch below it; and the third beam has a first contact point with a first patch below it and a second contact point with a second patch below it. The sensor according to claim 8.

10. Each first patch and each second patch are downward pressure sensors. The sensor according to claim 9.

11. Below the first beam, positioned between the first contact point and the second contact point, and including a spring that supports the first beam, The sensor according to claim 10.

12. The first guide has a first post and a second post, and the first rod is positioned between the first post and the second post. The sensor according to claim 11.

13. The contact surface includes a first bump, a second bump, and a third bump. The first sensor element includes a first top layer to which the first bump is attached, a first bottom layer whose at least portion is located below the first top layer, and a second bottom layer whose at least portion is located below the first top layer. The second sensor element includes a second top layer to which the second bump is attached, a third bottom layer at least partially disposed below the second top layer, and a fourth bottom layer at least partially disposed below the second top layer. The third sensor element includes a third top layer to which the third bump is attached, a fifth bottom layer whose portion is located below the third top layer, and a sixth bottom layer whose portion is located below the third top layer. The sensor according to claim 4.

14. The first, second, and third top layers are, respectively, A substrate that contacts the first, second, and third bumps, respectively, Power wiring in contact with the aforementioned substrate, A variable force resistance material that contacts the aforementioned power supply wiring, The adhesive in contact with the force-resistant material comprises, The power supply wiring is arranged between the substrate and the force-resisting material. Each bottom layer comprises a force-resisting material, a variable return wiring that contacts the force-resisting material of the bottom layer, and a substrate that contacts the force-resisting material of the bottom layer, wherein the force-resisting material of the bottom layer is disposed between the substrate and the return wiring of the bottom layer. The sensor according to claim 13.

15. The return wiring of the first bottom layer is the first return wiring, the return wiring of the second bottom layer is the second return wiring, the return wiring of the third bottom layer is the third return wiring, the return wiring of the fourth bottom layer is the fourth return wiring, the return wiring of the fifth bottom layer is the fifth return wiring, and the return wiring of the sixth bottom layer is the sixth return wiring. The sensor according to claim 14.

16. The force-resisting material of the first top layer is in contact with the force-resisting material of the first bottom layer and the second bottom layer, and in the portion where the force-resisting material is absent, the adhesive of the first top layer is positioned between the first top layer and the first and second bottom layers. The force-resisting material of the second top layer is in contact with the force-resisting material of the third bottom layer and the fourth bottom layer, and in the portion where the force-resisting material is absent, the adhesive of the second top layer is positioned between the second top layer and the third and fourth bottom layers. The force-resisting material of the third top layer is in contact with the force-resisting material of the fifth bottom layer and the sixth bottom layer, and in the portion where the force-resisting material is absent, the adhesive of the third top layer is positioned between the third top layer and the fifth and sixth bottom layers. The sensor according to claim 15.

17. It is a robotic hand, A finger with a tip, The multiple sensors on the fingertip function as five-degree-of-freedom sensors on the fingertip, and each of the multiple sensors is a six-degree-of-freedom sensor. Robot hand.

18. It is a sensor, A sensor element comprising six touch layers, each of which is a sensor element that changes current in accordance with the compressive force applied to the touch layer, A ribbon cable having power supply wiring for supplying power to the six sensor elements and six return wirings on which signals from the six sensor elements are transmitted, wherein one of the six return wirings is connected to one of the six sensor elements, A computer connected to the power supply wiring and the six return wiring, which supplies power to the six sensor elements and receives signals from the six sensor elements, A sensor equipped with the following features.

19. A method of sensing force, Steps to apply pressure to the touch layer, The steps include sending prompt signals to multiple sensor elements using a computer, The steps include: receiving a data signal from the sensor element using the aforementioned computer; The steps include: the computer identifying the six degrees of freedom of the force acting on the layer from the data signal received from the sensor element; A method for providing this.

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