Fiber pressure sensor for robot, and robot comprising same

Abstract

This fiber pressure sensor for a robot comprises: a lower fabric layer provided on a moving part of a robot and made of a non-conductive fabric; a lower electrode layer provided on the lower fabric layer and made of a conductive fabric; an elastic layer provided on the lower electrode layer and made of an elastic non-conductive fabric; an upper electrode layer provided on the elastic layer and made of a conductive fabric; an upper fabric layer provided on the upper electrode layer and made of a non-conductive fabric; and a sensor circuit which is electrically connected to the upper electrode layer and the lower electrode layer, and which outputs a signal according to a change in capacitance between the upper electrode layer and the lower electrode layer.

Description

Fiber pressure sensor for robots and robot equipped with the same

[0001] The present disclosure relates to a fiber pressure sensor for a robot and a robot equipped with the same.

[0002] Recently, various types of robots are widely used.

[0003] Robots can be broadly classified into stationary robots, mobile robots, and humanoid robots.

[0004] A stationary robot is configured to perform a specific task by operating a work arm while fixed in a specific location.

[0005] A mobile robot may include a movable carriage capable of moving arbitrarily and a work arm installed on the upper surface of the movable carriage. The mobile robot is configured to perform a specific task using the movable carriage and the work arm.

[0006] Humanoid robots are equipped with two arms and two legs similar to humans, and are formed to move freely and perform various tasks.

[0007] Since such robots may collide with people while performing tasks, a device is required to prevent collisions or minimize damage in the event of a collision.

[0008] A fiber pressure sensor for a robot installed in a moving part of a robot according to one or more embodiments of the present disclosure may include: a lower fabric layer installed in the moving part of the robot and formed of a non-conductive fabric; a lower electrode layer installed on the upper side of the lower fabric layer and formed of a conductive fabric; an elastic layer installed on the upper side of the lower electrode layer and formed of an elastic non-conductive fabric; an upper electrode layer installed on the upper side of the elastic layer and formed of a conductive fabric; an upper fabric layer installed on the upper side of the upper electrode layer and formed of a non-conductive fabric; and a sensor circuit electrically connected to the upper electrode layer and the lower electrode layer and formed to output a signal according to a change in capacitance between the upper electrode layer and the lower electrode layer.

[0009] According to one or more embodiments of the present disclosure, an adhesive layer may be interposed between the lower fabric layer and the lower electrode layer, between the lower electrode layer and the elastic layer, between the elastic layer and the upper electrode layer, and between the upper electrode layer and the upper fabric layer.

[0010] According to one or more embodiments of the present disclosure, the sensor circuit may include: a measurement module that measures the capacitance between the upper electrode layer and the lower electrode layer and outputs an electrical signal corresponding to the measured capacitance; and an analysis module that is electrically connected to the measurement module and outputs a motor control signal when the electrical signal output from the measurement module exceeds a reference value.

[0011] According to one or more embodiments of the present disclosure, the robot may include a motor control unit that is electrically connected to the analysis module and operates the moving part. When the motor control unit receives the motor control signal from the analysis module, it may stop or decelerate the moving part.

[0012] According to one or more embodiments of the present disclosure, the fiber pressure sensor for a robot may further include a shock absorbing layer formed to absorb shock caused by an external force, which is installed on the lower side of the lower fabric layer.

[0013] According to one or more embodiments of the present disclosure, the shock-absorbing layer may be formed from a foam. The foam may be formed from one of extruded polyethylene foam, expanded polystyrene (EPS, Styrofoam), polyurethane foam, or expanded polypropylene.

[0014] According to one or more embodiments of the present disclosure, the fiber pressure sensor for a robot may further include a soft foam installed between the lower fabric layer and the shock absorption layer and formed to absorb shock caused by an external force.

[0015] According to one or more embodiments of the present disclosure, the soft foam may be formed of ethylene vinyl acetate (EVA).

[0016] According to one or more embodiments of the present disclosure, a protective layer formed of fabric may be further included, which is installed on the upper side of the upper fabric layer.

[0017] According to one or more embodiments of the present disclosure, the protective layer may be formed from one of polyester fabric, polyvinyl chloride (PVC), or thermoplastic elastomer (TPE).

[0018] A robot according to one or more embodiments of the present disclosure may include: a moving part having a column shape; a motor formed to operate the moving part; a motor control part formed to control the motor; a contact sensing / shock absorbing cover installed on the moving part and formed to absorb shock caused by external force; and a fiber pressure sensor installed on the contact sensing / shock absorbing cover. The fiber pressure sensor may include: a lower fabric layer formed of a non-conductive fabric; a lower electrode layer formed of a conductive fabric installed on the upper side of the lower fabric layer; an elastic layer formed of an elastic non-conductive fabric installed on the upper side of the lower electrode layer; an upper electrode layer formed of a conductive fabric installed on the upper side of the elastic layer; an upper fabric layer formed of a non-conductive fabric installed on the upper side of the upper electrode layer; and a sensor circuit electrically connected to the upper electrode layer and the lower electrode layer and formed to output a signal according to a change in capacitance between the upper electrode layer and the lower electrode layer.

[0019] According to one or more embodiments of the present disclosure, the sensor circuit may include: a measurement module that measures the capacitance between the upper electrode layer and the lower electrode layer and outputs an electrical signal corresponding to the measured capacitance; and an analysis module that is electrically connected to the measurement module and outputs a motor control signal to the motor control unit when the electrical signal output from the measurement module exceeds a reference value. When the motor control unit receives a motor control signal from the fiber pressure sensor, it may stop or decelerate the motor.

[0020] According to one or more embodiments of the present disclosure, the contact sensing / shock absorbing cover may include: an upper contact sensing / shock absorbing cover installed on the upper side of the moving part; a lower contact sensing / shock absorbing cover installed on the lower side of the moving part; and a coupling device for coupling the upper contact sensing / shock absorbing cover and the lower contact sensing / shock absorbing cover.

[0021] According to one or more embodiments of the present disclosure, the coupling device may be formed of Velcro or a magnet.

[0022] According to one or more embodiments of the present disclosure, the contact sensing / shock absorbing cover may further include: a shock absorbing layer formed of an elastic material and installed on the lower side of the lower fabric layer; and a protective layer formed of fabric and installed on the upper side of the upper fabric layer.

[0023] The above-described or other aspects, features, and benefits of embodiments of the present disclosure will become more apparent from the following description with reference to the accompanying drawings. In the accompanying drawings:

[0024] FIG. 1 is a perspective view showing a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure installed on the outer cover of a moving part of a robot.

[0025] FIG. 2 is an exploded perspective view showing the outer cover of the moving part of a robot and the fiber pressure sensor for the robot separated according to one or more embodiments of the present disclosure of FIG. 1.

[0026] FIG. 3 is a perspective view showing a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure.

[0027] FIG. 4 is a side view showing a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure.

[0028] FIG. 5 is a side view showing a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure.

[0029] FIG. 6 is a block diagram showing a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure.

[0030] FIG. 7 is a perspective view showing a contact sensing / shock absorbing cover according to one or more embodiments of the present disclosure installed on a moving part of a robot.

[0031] FIG. 8 is an exploded perspective view showing a contact sensing / shock absorbing cover according to one or more embodiments of the present disclosure.

[0032] FIG. 9 is an exploded perspective view showing a contact sensing / shock absorbing cover according to one or more embodiments of the present disclosure.

[0033] FIG. 10 is a drawing showing a humanoid robot equipped with a contact sensing / shock absorbing cover according to one or more embodiments of the present disclosure.

[0034] FIG. 11 is a drawing showing a mobile robot equipped with a contact sensing / shock absorbing cover according to one or more embodiments of the present disclosure.

[0035] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or alternatives of said embodiments.

[0036] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0037] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0038] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0039] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0040] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another corresponding component and do not limit the components in other aspects (e.g., importance or order).

[0041] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0042] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0043] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0044] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0045] Additionally, terms such as 'front end', 'rear end', 'upper part', 'lower part', 'upper part', and 'lower part' used in this disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0046] The present disclosure aims to provide a fiber pressure sensor for a robot and a robot equipped with the same, which can prevent or minimize injury to a person or damage to a robot or object caused by a collision when the robot collides with a person or object.

[0047] A fiber pressure sensor for a robot according to one or more embodiments of the present disclosure can be formed by laminating a plurality of flat-shaped fabrics (or fibers, cloths) in layers.

[0048] For example, a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure may be formed by sequentially laminating three flat non-conductive fabrics and two flat conductive fabrics. The two conductive fabrics may serve as electrodes. An intermediate non-conductive fabric located between the two conductive fabrics has elasticity, so it can be easily compressed when an external force is applied and restored to its original state when the external force is removed. Two non-conductive fabrics located outside the two conductive fabrics have no elasticity and may hardly deform even when an external force is applied.

[0049] Accordingly, when an external shock or force, i.e., an external force, is applied from the outside, the elastic intermediate non-conductive fabric may deform, causing a change in the capacitance between the two conductive fabrics. Accordingly, a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure may be formed to detect this change in capacitance and recognize that an external force has been applied. In other words, a fiber pressure sensor for a robot according to one or more embodiments of the present disclosure may be formed as a capacitive fiber pressure sensor.

[0050] Hereinafter, a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure will be described in detail with reference to FIGS. 1 to 3.

[0051] FIG. 1 is a perspective view showing a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure installed on an outer cover of a moving part of a robot. FIG. 2 is an exploded perspective view showing the outer cover of a moving part of a robot and the fiber pressure sensor (10) for a robot separated according to one or more embodiments of the present disclosure of FIG. 1. FIG. 3 is a perspective view showing a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure.

[0052] Referring to FIGS. 1 to 3, a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure may include a lower fabric layer (11), a lower electrode layer (12), an elastic layer (13), an upper electrode layer (14), and an upper fabric layer (15).

[0053] The lower fabric layer (11) may be formed of a flat fabric (or fiber, cloth). The lower fabric layer (11) may be formed of a non-conductive fabric. The lower fabric layer (11) may be formed to prevent electricity from flowing to the lower electrode layer (12).

[0054] The lower fabric layer (11) may be formed from a material that has no elasticity or very little elasticity. For example, the lower fabric layer (11) may be formed from a material with a thickness variation of about 0.01 mm or less. The lower fabric layer (11) may be formed from synthetic fibers. For example, the lower fabric layer (11) may be formed from polyester woven fabric.

[0055] The thickness of the lower fabric layer (11) can be about 0.10 mm to 0.40 mm.

[0056] The lower fabric layer (11) can be installed on the robot. For example, the lower fabric layer (11) can be installed on the moving part of the robot. The lower fabric layer (11) can be installed on the moving part of the robot in various ways.

[0057] The lower electrode layer (12) can be installed on the upper side of the lower fabric layer (11). In other words, the lower electrode layer (12) can be laminated onto the lower fabric layer (11). The lower electrode layer (12) may include a terminal portion (12a) that protrudes outward from the lower fabric layer (11) so as to be able to apply power.

[0058] The lower electrode layer (12) may be formed from a flat-shaped fabric (or fiber, cloth). The lower electrode layer (12) may be formed with the same shape as the lower fabric layer (11) and in a smaller size. The lower electrode layer (12) may be formed from a conductive fabric. In other words, the lower electrode layer (12) may be formed to allow electricity to flow.

[0059] The lower electrode layer (12) may be formed of a conductive material that has no elasticity or has very little elasticity. For example, the lower electrode layer (12) may be formed of a conductive material with a thickness variation of about 0.01 mm or less.

[0060] The lower electrode layer (12) can be formed by applying or plating a conductive material on the surface of a synthetic fiber. For example, the lower electrode layer (12) can be formed to conduct electricity by plating nickel (Ni), copper (Cu), silver (Ag), gold (Au), etc., on the surface of a polyester fabric.

[0061] The lower electrode layer (12) can be formed from a conductive foam. For example, the lower electrode layer (12) can be formed from a conductive polyolefin foam. The conductive polyolefin foam can be coated with an anti-tarnish urethane coating (ATU). For example, the lower electrode layer (12) can be formed from a conductive rayon foam. The conductive rayon foam can be coated with an anti-tarnish urethane coating.

[0062] The lower electrode layer (12) can be formed by laminating a conductive polyolefin foam and a conductive fabric. The laminated conductive polyolefin foam and conductive fabric may be coated with a discoloration-preventing urethane coating.

[0063] The lower electrode layer (12) may include a conductive adhesive layer (12a) formed on one surface (see FIG. 3). The conductive adhesive layer (12a) may be formed from a conductive adhesive. For example, a pressure-sensitive adhesive (PSA) may be used as the conductive adhesive.

[0064] The thickness of the lower electrode layer (12) may be approximately 0.05 mm to 0.40 mm. For example, if the lower electrode layer (12) includes a conductive adhesive layer (12a), the thickness of the lower electrode layer (12) may include the thickness of the conductive adhesive layer (12a).

[0065] The elastic layer (13) can be installed on the upper side of the lower electrode layer (12). In other words, the elastic layer (13) can be laminated on the lower electrode layer (12).

[0066] The elastic layer (13) may be formed from a flat-shaped fabric (or fiber, cloth). The elastic layer (13) may be formed with the same shape and size as the lower fabric layer (11). The elastic layer (13) may be formed with the same shape as the lower electrode layer (12) and a larger size. Thus, when the lower fabric layer (11), the lower electrode layer (12), and the elastic layer (13) are bonded using an adhesive, the lower electrode layer (12) may be wrapped by the non-conductive lower fabric layer (11) and the elastic layer (13).

[0067] The elastic layer (13) can be formed from a non-conductive fabric. The elastic layer (13) can be formed so as not to conduct electricity.

[0068] The elastic layer (13) can be formed from an elastic material. The elastic layer (13) can be formed from a material having greater elasticity than the lower fabric layer (11) and the lower electrode layer (12). For example, when an external force is applied, the thickness of the lower electrode layer (12) and the lower fabric layer (11) does not decrease, and only the thickness of the elastic layer (13) decreases. When the external force is removed, the elastic layer (13) can be restored to its original thickness.

[0069] For example, the elastic layer (13) may be formed of a material having a thickness change of about 0.3 mm or more. As an example, when an external force is applied, the elastic layer (13) may be formed of a material whose thickness can be reduced to about 90%.

[0070] The elastic layer (13) may have the same thickness as the lower fabric layer (11) or be formed to be thicker.

[0071] For example, when the thickness of the elastic layer (13) is 1 mm when no external force is applied, when an external force is applied, the thickness of the elastic layer (13) can be reduced to 1 mm or less. In this case, the thickness of the elastic layer (13) can be reduced to a maximum of about 0.1 mm.

[0072] For example, when no external force is applied, the thickness of the elastic layer (13) is 1.2 mm. When an external force is applied, the thickness of the elastic layer (13) can be reduced to 1.2 mm or less. In this case, the thickness of the elastic layer (13) can be reduced to a maximum of about 0.12 mm.

[0073] The elastic layer (13) can be formed from synthetic fibers. For example, the elastic layer (13) can be formed from an elastic polyester woven fabric.

[0074] The thickness of the elastic layer (13) can be about 0.3 mm to 2.0 mm.

[0075] The upper electrode layer (14) can be installed on the upper side of the elastic layer (13). In other words, the upper electrode layer (14) can be laminated onto the elastic layer (13). The upper electrode layer (14) may include a terminal portion (14a) that protrudes outward from the elastic layer (13) so as to allow power to be applied.

[0076] The upper electrode layer (14) may be formed from a flat-shaped fabric (or fiber, cloth). The upper electrode layer (14) may have the same shape as the elastic layer (13) and may be formed in a small size. The upper electrode layer (14) may be formed from a conductive fabric. In other words, the upper electrode layer (14) may be formed to conduct electricity.

[0077] The upper electrode layer (14) may be formed of a conductive material that has no elasticity or has very little elasticity. For example, the upper electrode layer (14) may be formed of a conductive material with a thickness variation of about 0.01 mm or less. As an example, the upper electrode layer (14) may be formed of the same material as the lower electrode layer (12).

[0078] The upper electrode layer (14) can be formed by applying or plating a conductive material on the surface of a synthetic fiber. For example, the upper electrode layer (14) can be formed to conduct electricity by plating nickel (Ni), copper (Cu), silver (Ag), gold (Au), etc., on the surface of a polyester fabric.

[0079] The upper electrode layer (14) can be formed from a conductive foam. For example, the upper electrode layer (14) can be formed from a conductive polyolefin foam. The conductive polyolefin foam can be coated with a discoloration-resistant urethane coating. For example, the upper electrode layer (14) can be formed from a conductive TR foam. The conductive TR foam can be coated with a discoloration-resistant urethane coating.

[0080] The upper electrode layer (14) can be formed by laminating a conductive polyolefin foam and a conductive fabric. The laminated conductive polyolefin foam and conductive fabric may be coated with a discoloration-preventing urethane coating.

[0081] The upper electrode layer (14) may include a conductive adhesive layer (14a) formed on one surface. The conductive adhesive layer (14a) may be formed from a conductive adhesive. For example, a pressure-sensitive adhesive may be used as the conductive adhesive.

[0082] The thickness of the upper electrode layer (14) may be approximately 0.05 mm to 0.40 mm. For example, if the upper electrode layer (14) includes a conductive adhesive layer (14a), the thickness of the upper electrode layer (14) may include the thickness of the conductive adhesive layer (14a). The upper electrode layer (14) may be formed to have the same thickness as the lower electrode layer (12).

[0083] The upper fabric layer (15) can be installed on the upper side of the upper electrode layer (14). In other words, the upper fabric layer (15) can be laminated on the upper electrode layer (14).

[0084] The upper fabric layer (15) can be formed from a flat fabric (or fiber, cloth). The upper fabric layer (15) can be formed with the same shape as the upper electrode layer (14) and in a larger size. Thus, when the elastic layer (13), the upper electrode layer (14), and the upper fabric layer (15) are bonded using an adhesive, the upper electrode layer (13) can be wrapped by the non-conductive upper fabric layer (15) and the elastic layer (13). Thus, it is possible to prevent the upper electrode layer (14) and the lower electrode layer (12) from short-circuiting.

[0085] The upper fabric layer (15) may be formed of a non-conductive fabric. The upper fabric layer (15) may be formed to prevent electricity from flowing to the upper electrode layer (14).

[0086] The upper fabric layer (15) may be formed of a material that has no elasticity or very little elasticity. The upper fabric layer (15) may be formed of the same material as the lower fabric layer (11).

[0087] For example, the upper fabric layer (15) may be formed from a material having a thickness variation of about 0.01 mm or less. The upper fabric layer (15) may be formed from synthetic fibers. For example, the upper fabric layer (15) may be formed from polyester woven fabric.

[0088] The thickness of the upper fabric layer (15) may be approximately 0.10 mm to 0.40 mm. The upper fabric layer (15) may be formed to have the same thickness as the lower fabric layer (11).

[0089] The lower fabric layer (11), lower electrode layer (12), elastic layer (13), upper electrode layer (14), and upper fabric layer (15) described above may be laminated in order to form a fiber pressure sensor (10) according to one or more embodiments of the present disclosure. Accordingly, the elastic layer (13) may be an intermediate non-conductive fabric of the fiber pressure sensor (10) according to one or more embodiments of the present disclosure.

[0090] As shown in FIG. 3, the lower fabric layer (11), lower electrode layer (12), elastic layer (13), upper electrode layer (14), and upper fabric layer (15) stacked in a flat shape can be bent to form a half cylinder shape as shown in FIG. 2.

[0091] A fiber pressure sensor (10) according to one or more embodiments of the present disclosure, formed in a half-cylinder shape, can be coupled to an outer cover (111) of a moving part of a robot. The outer cover (111) of the moving part of the robot may be formed of aluminum or plastic. A state in which the fiber pressure sensor (10) is coupled to the outer cover (111) of the moving part of the robot is illustrated in FIG. 1. For reference, in FIG. 1 and FIG. 2, components housed inside the outer cover (111) of the moving part of the robot are not illustrated for convenience of illustration.

[0092] Alternatively, for example, as shown in FIG. 3, the lower fabric layer (11), lower electrode layer (12), elastic layer (13), upper electrode layer (14), and upper fabric layer (15) stacked in a flat shape can be bent to form a cylinder shape. For example, as shown in FIG. 3, the lower fabric layer (11), lower electrode layer (12), elastic layer (13), upper electrode layer (14), and upper fabric layer (15) stacked in a flat shape can be bent into various shapes to correspond to the shape of the part of the robot to be installed.

[0093] As illustrated in FIG. 4, the lower fabric layer (11), lower electrode layer (12), elastic layer (13), upper electrode layer (14), and upper fabric layer (15) of a fiber pressure sensor (10) according to one or more embodiments of the present disclosure can be bonded together with an adhesive.

[0094] FIG. 4 is a side view showing a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure. FIG. 5 is a side view showing a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure.

[0095] Referring to FIG. 4, the lower fabric layer (11) and the lower electrode layer (12) can be bonded with an adhesive. In other words, an adhesive layer (16) can be interposed between the lower fabric layer (11) and the lower electrode layer (12). For example, a pressure-sensitive adhesive can be used as the adhesive.

[0096] The lower electrode layer (12) and the elastic layer (13) can be bonded with an adhesive. In other words, an adhesive layer (12a) can be interposed between the lower electrode layer (12) and the elastic layer (13). For example, a pressure-sensitive adhesive can be used as the adhesive. If the lower electrode layer (12) includes a conductive adhesive layer (12a), the lower electrode layer (12) can be attached to the lower surface of the elastic layer (13) by the conductive adhesive layer (12a).

[0097] The elastic layer (13) and the upper electrode layer (14) can be bonded with an adhesive. In other words, an adhesive layer (14a) can be interposed between the elastic layer (13) and the upper electrode layer (14). For example, a pressure-sensitive adhesive can be used as the adhesive. If the upper electrode layer (14) includes a conductive adhesive layer (14a), the upper electrode layer (14) can be attached to the upper surface of the elastic layer (13) with the conductive adhesive layer (14a).

[0098] The upper electrode layer (14) and the upper fabric layer (15) can be bonded together with an adhesive. In other words, a bonding layer (16) can be interposed between the upper electrode layer (14) and the upper fabric layer (15). For example, a pressure-sensitive adhesive can be used as the adhesive.

[0099] The terminal portion (12a) of the lower electrode layer (12) may be formed to protrude outward from the elastic layer (13). The terminal portion (14a) of the upper electrode layer (14) may be formed to protrude outward from the elastic layer (13). The terminal portion (14a) of the upper electrode layer (14) and the terminal portion (12a) of the lower electrode layer (12) may protrude in opposite directions from each other.

[0100] As another example, as shown in FIG. 5, the terminal portion (14a) of the upper electrode layer (14) and the terminal portion (12a) of the lower electrode layer (12) can protrude in the same direction.

[0101] Although it has been described above that a pressure-sensitive adhesive is used as the adhesive, the adhesive used in the fiber pressure sensor (10) according to one or more embodiments of the present disclosure is not limited thereto. Various types of adhesives may be used as long as they can bond the lower fabric layer (11), the lower electrode layer (12), the elastic layer (13), the upper electrode layer (14), and the upper fabric layer (15).

[0102] A fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure may include a sensor circuit (50).

[0103] The sensor circuit (50) is electrically connected to the upper electrode layer (14) and the lower electrode layer (12) and can be formed to output a signal according to a change in capacitance between the upper electrode layer (14) and the lower electrode layer (12). For example, the sensor circuit (50) can be formed to measure the capacitance of the fiber pressure sensor (10) and, if the measured capacitance exceeds a reference value, output a motor stop signal or a motor deceleration signal.

[0104] As illustrated in FIG. 4, the sensor circuit (50) can be electrically connected to the upper electrode layer (14) and the lower electrode layer (12). For example, the upper electrode layer (14) can be connected to the sensor circuit (50) by a first wire (61), and the lower electrode layer (12) can be connected to the sensor circuit (50) by a second wire (62).

[0105] FIG. 6 is a block diagram showing a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure.

[0106] Referring to FIG. 6, the sensor circuit (50) may include a measurement module (51) and an analysis module (52).

[0107] The measurement module (51) can be formed to measure the capacitance between the upper electrode layer (14) and the lower electrode layer (12) of the fiber pressure sensor (10) and to output an electrical signal corresponding to the measured capacitance. The measurement module (51) can be formed to measure the capacitance between the upper electrode layer (14) and the lower electrode layer (12) by applying a voltage to the upper electrode layer (14) and the lower electrode layer (12). The measurement module (51) can be formed to output an electrical signal corresponding to the measured capacitance, for example, a voltage (V).

[0108] The capacitance of the fiber pressure sensor (10) can vary depending on the distance between the upper electrode layer (14) and the lower electrode layer (12). The capacitance of the fiber pressure sensor (10) can increase as the distance between the upper electrode layer (14) and the lower electrode layer (12) decreases.

[0109] For example, when an external force is applied to the fiber pressure sensor (10), the elastic layer (13) is compressed, and the distance between the upper electrode layer (14) and the lower electrode layer (12) can be reduced. Then, the capacitance of the fiber pressure sensor (10) can increase. When the external force applied to the fiber pressure sensor (10) is removed, the elastic layer (13) is restored to its original state, so the distance between the upper electrode layer (14) and the lower electrode layer (12) can also be restored to its original state. Therefore, the capacitance of the fiber pressure sensor (10) can also be restored to its original state.

[0110] The analysis module (52) can be electrically connected to the measurement module (51). The analysis module (52) can be configured to output a motor control signal when the electrical signal output from the measurement module (51) exceeds a reference value. Here, the reference value may be the magnitude of the electrical signal corresponding to the capacitance when the elastic layer (13) of the fiber pressure sensor (10) is not compressed. For example, if the electrical signal is a voltage, the reference value, i.e., the reference voltage, may be a voltage corresponding to the capacitance when the elastic layer (13) of the fiber pressure sensor (10) is not compressed. Accordingly, the voltage output by the fiber pressure sensor (10) to which an external force is applied may be greater than the voltage output by the fiber pressure sensor (10) to which no external force is applied.

[0111] For example, the analysis module (52) compares the voltage output from the measurement module (51) with a reference value (e.g., reference voltage) stored in the analysis module (52). If the voltage output from the measurement module (51) is equal to or smaller than the reference voltage, the analysis module (52) may not output a motor control signal. If the voltage output from the measurement module (51) is greater than the reference voltage, the analysis module (52) may output a motor control signal. The motor control signal may include a motor stop signal to stop the motor and a motor deceleration signal to reduce the speed of the motor.

[0112] The sensor circuit (50) may include a battery for applying voltage to the upper electrode layer (14) and the lower electrode layer (12) of the fiber pressure sensor (10). The sensor circuit (50) may include a power supply unit formed to receive electricity from an external device such as a robot.

[0113] The sensor circuit (50) may be formed on a printed circuit board. For example, a measurement module (51), an analysis module (52), and a power supply may be formed on the printed circuit board. The measurement module, the analysis module, and the power supply may include various types of electronic components and software. The analysis module (52) may include a memory for storing reference values.

[0114] For example, the sensor circuit (50) may be formed as a single module in which the measurement module (51), the analysis module (52), and the printed circuit board are integrated.

[0115] The sensor circuit (50) may be configured to operate only with an external force greater than a reference value. The sensor circuit (50) may not operate with an external force less than a reference value. For example, the sensor circuit (50) may be configured to operate only with an external force of about 10 Kgf or more.

[0116] The sensor circuit (50) can be electrically connected to a robot (100) on which a fiber pressure sensor (10) for a robot is installed. The fiber pressure sensor (10) for a robot can be installed on a moving part (110) of the robot (100). For example, as shown in FIG. 1, the fiber pressure sensor (10) for a robot can be installed on an outer cover (111) of a moving part (110) of the robot (100). Here, the moving part (110) of the robot (100) refers to a part of the robot (100) that can move in three-dimensional space, such as the arms, legs, torso, etc. of the robot (100).

[0117] For example, the analysis module (52) of the sensor circuit (50) can be electrically connected to the motor control unit (120) of the robot (100). The motor control unit (120) can be configured to operate the movement unit (110) of the robot (100).

[0118] As illustrated in FIG. 6, when the robot (100) includes a motor (M) that operates the moving part (110), the motor control unit (120) may be formed to control the motor (M). The motor control unit (120) may be provided in a robot control unit formed to control the robot (100), and the motor (M) may be installed to operate the moving part (110).

[0119] When the motor control unit (120) receives a motor control signal from the analysis module (52) of the sensor circuit (50), it can stop or decelerate the moving unit (110). For example, when the analysis module (52) receives a motor control signal requesting the stopping of the moving unit (110), the motor control unit (120) can stop the moving unit (110) by stopping the motor (M). Alternatively, when the analysis module (52) receives a motor control signal requesting the deceleration of the moving unit (110), the motor control unit (120) can decelerate the moving unit (110) by decelerating the motor (M).

[0120] The sensor circuit (50) may be formed separately from the fiber pressure sensor (10). For example, the sensor circuit (50) may be installed on the robot (100) adjacent to the motor control unit (120). Alternatively, the sensor circuit (50) may be formed integrally with the motor control unit (120).

[0121] Referring to FIG. 1, a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure may further include a shock-absorbing layer (20).

[0122] The shock absorption layer (20) may be installed below the fiber pressure sensor (10). For example, the shock absorption layer (20) may be installed below the lower fabric layer (11) of the fiber pressure sensor (10). The shock absorption layer (20) may be formed to prevent or reduce the impact of the robot (100) on a human in the vicinity, and to prevent or reduce the damage of the robot (100) from colliding with an external object.

[0123] The shock absorption layer (20) can be formed from various materials capable of absorbing shock caused by external force. For example, the shock absorption layer (20) can be formed from foam.

[0124] For example, the foam can be formed from one of extruded polyethylene foam, expanded polystyrene (EPS, Expanded PolyStyrene, Styrofoam), polyurethane foam, or expanded polypropylene.

[0125] The shock absorption layer (20) can be formed to have a thickness greater than that of the fiber pressure sensor (10). For example, the thickness of the shock absorption layer (20) can be formed to be about 10 mm to 20 mm.

[0126] Referring to FIG. 1, a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure may further include soft foam (30).

[0127] The soft foam (30) may be installed between the fiber pressure sensor (10) and the shock absorption layer (20). For example, the soft foam (30) may be installed between the lower fabric layer (11) of the fiber pressure sensor (10) and the shock absorption layer (20). The soft foam (30) may be formed to prevent or reduce the impact of the robot (100) on a human in the vicinity, and to prevent or reduce the damage of the robot (100) from colliding with an external object.

[0128] The soft foam (30) can be formed from various materials as long as it can absorb impact from external forces. For example, the soft foam (30) can be formed from one of ethylene vinyl acetate (EVA), polyvinyl chloride (PVC), or thermoplastic elastomer (TPE).

[0129] Referring to FIG. 1, a fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure may further include a protective layer (40).

[0130] A protective layer (40) may be installed on the upper side of the fiber pressure sensor (10). For example, the protective layer (40) may be installed on the upper side of the upper fabric layer (15) of the fiber pressure sensor (10). The protective layer (40) may be formed of fabric. The protective layer (40) may be installed to prevent damage to the fiber pressure sensor (10). The protective layer (40) may be installed for the design appearance of the fiber pressure sensor (10). The protective layer (40) may be installed for the design appearance of the moving part (110) of the robot (100) on which the fiber pressure sensor (10) is installed. For example, the protective layer (40) may be installed to give the appearance of the moving part (110) of the robot (100) a soft feel like fabric.

[0131] For example, the protective layer (40) can be formed from polyester fabric. In addition, the protective layer (40) can be formed from various types of synthetic fibers, synthetic materials, etc.

[0132] The fiber pressure sensor (10), protective layer (40), and shock absorption layer (20) described above can form a contact sensing / shock absorption cover (1). The fiber pressure sensor (10) can be installed on the upper side of the shock absorption layer (20). The protective layer (40) can be installed on the upper side of the fiber pressure sensor (10).

[0133] The shock absorption layer (20), the fiber pressure sensor (10), and the protective layer (40) can be stacked sequentially to form a contact sensing / shock absorption cover (1). For example, the shock absorption layer (20) can be installed below the fiber pressure sensor (10), and the protective layer (40) can be installed above the fiber pressure sensor (10).

[0134] The contact sensing / shock absorbing cover (1) may further include soft foam (30). The soft foam (30) may be installed between the shock absorbing layer (20) and the fiber pressure sensor (10).

[0135] The contact sensing / shock absorption cover (1) can be formed in a hollow cylindrical shape. The moving part (110) of the robot (100) can be installed by inserting it into the hollow of the contact sensing / shock absorption cover (1).

[0136] FIG. 7 is a perspective view showing a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure installed on a moving part of a robot.

[0137] Referring to FIG. 7, a contact sensing / shock absorbing cover (1) can be installed on the outer cover (111) of the moving part of the robot. For example, a shock absorbing layer (20), a fiber pressure sensor (10), and a protective layer (40) can be sequentially laminated on the outer cover (111) of the moving part of the robot. If the contact sensing / shock absorbing cover (1) includes soft foam (30), a shock absorbing layer (20), soft foam (30), a fiber pressure sensor (10), and a protective layer (40) can be sequentially laminated on the outer cover (111) of the moving part of the robot.

[0138] Accordingly, when an external force is applied to the contact sensing / shock absorption cover (1), i.e., the protective layer (40), the elastic layer (13) of the fiber pressure sensor (10) is pressed. Then, as the capacitance of the fiber pressure sensor (10) changes, the sensor circuit (50) outputs a motor control signal. Upon receiving the motor control signal from the fiber pressure sensor (10), the motor control unit (120) of the robot (100) can control the motor (M) to stop or decelerate the moving unit (110).

[0139] As another example, to facilitate the installation of the contact sensing / shock absorbing cover (1), the contact sensing / shock absorbing cover (1) may be formed by dividing a hollow cylinder into two equal parts along its length. A contact sensing / shock absorbing cover (1) having such a structure will be described in detail with reference to FIGS. 8 and 9.

[0140] FIG. 8 is an exploded perspective view showing a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure.

[0141] Referring to FIG. 8, the contact sensing / shock absorbing cover (1) may include an upper contact sensing / shock absorbing cover (1a), a lower contact sensing / shock absorbing cover (1b), and a coupling device.

[0142] The upper contact sensing / shock absorption cover (1a) may be formed in a half-cylinder shape. The upper contact sensing / shock absorption cover (1a) may include a laminated shock absorption layer (20), a fiber pressure sensor (10), and a protective layer (40). The shock absorption layer (20), the fiber pressure sensor (10), and the protective layer (40) may all be formed in a half-cylinder shape. The upper contact sensing / shock absorption cover (1a) may be installed on the upper side of the moving part (110) of the robot.

[0143] The lower contact sensing / shock absorption cover (1b) may be formed in a half-cylinder shape. The lower contact sensing / shock absorption cover (1b) may include a laminated shock absorption layer (20), a fiber pressure sensor (10), and a protective layer (40). The shock absorption layer (20), the fiber pressure sensor (10), and the protective layer (40) may all be formed in a half-cylinder shape. The lower contact sensing / shock absorption cover (1b) may be installed on the lower side of the moving part (110) of the robot. The lower contact sensing / shock absorption cover (1b) may be formed in the same shape and size as the upper contact sensing / shock absorption cover (1a).

[0144] The coupling device can be formed to combine the upper contact sensing / shock absorbing cover (1a) and the lower contact sensing / shock absorbing cover (1b).

[0145] For example, the coupling device may be formed with Velcro (2). Velcro (2) may be installed on the lower surface of the upper contact sensing / shock absorbing cover (1a) and on the upper surface of the lower contact sensing / shock absorbing cover (1b). For example, a hook Velcro may be installed on the lower surface of the upper contact sensing / shock absorbing cover (1a), and a loop Velcro may be installed on the upper surface of the lower contact sensing / shock absorbing cover (1b).

[0146] The upper contact sensing / shock absorbing cover (1a) and the lower contact sensing / shock absorbing cover (1b) can be combined by Velcro (2), namely hook Velcro and loop Velcro.

[0147] For example, the coupling device may be formed of a magnet. In other words, the coupling device may be formed of a plurality of permanent magnets. A contact sensing / shock absorbing cover (1) including a coupling device formed of a magnet is shown in FIG. 9.

[0148] FIG. 9 is an exploded perspective view showing a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure.

[0149] Referring to FIG. 9, the contact sensing / shock absorbing cover (1) may include an upper contact sensing / shock absorbing cover (1a), a lower contact sensing / shock absorbing cover (1b), and a coupling device.

[0150] The upper contact sensing / shock absorption cover (1a) and the lower contact sensing / shock absorption cover (1b) are identical to the contact sensing / shock absorption cover (1) according to the above-described embodiment, so a detailed description is omitted.

[0151] The coupling device can be formed to combine the upper contact sensing / shock absorbing cover (1a) and the lower contact sensing / shock absorbing cover (1b).

[0152] For example, the coupling device may be formed with a plurality of permanent magnets (3). A plurality of permanent magnets (3) may be installed on the lower surface of the upper contact sensing / shock absorption cover (1a). A plurality of permanent magnets (3) may be installed at regular intervals on the lower surface of the upper contact sensing / shock absorption cover (1a). A plurality of permanent magnets (3) may be installed so as not to be exposed to the outside below the lower surface of the upper contact sensing / shock absorption cover (1a).

[0153] A plurality of permanent magnets (3) may be installed on the upper surface of the lower contact sensing / shock absorption cover (1b). The plurality of permanent magnets (3) of the lower contact sensing / shock absorption cover (1b) may be installed to correspond to the plurality of permanent magnets (3) of the upper contact sensing / shock absorption cover (1a). The plurality of permanent magnets (3) of the lower contact sensing / shock absorption cover (1b) may be formed to have opposite magnetic poles to the plurality of permanent magnets (3) of the upper contact sensing / shock absorption cover (1a).

[0154] A plurality of permanent magnets (3) may be installed at regular intervals on the upper surface of the lower contact sensing / shock absorption cover (1b). A plurality of permanent magnets (3) may be installed below the upper surface of the lower contact sensing / shock absorption cover (1b) so as not to be exposed to the outside.

[0155] The upper contact sensing / shock absorbing cover (1a) and the lower contact sensing / shock absorbing cover (1b) can be combined by a plurality of permanent magnets (3).

[0156] As described above, if the contact sensing / shock absorption cover (1) is formed by dividing it into two parts, the contact sensing / shock absorption cover (1) can be easily and quickly installed on the moving part (110) of the robot.

[0157] A fiber pressure sensor (10) for a robot according to one or more embodiments of the present disclosure can be installed on various types of robots.

[0158] FIG. 10 is a drawing showing a humanoid robot (200) equipped with a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure.

[0159] Referring to FIG. 10, a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure may be installed on a moving part of a humanoid robot (200). For example, a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure may be installed on both arms (201, 202) and both legs (203, 204) of the humanoid robot (200). As an example, a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure may be installed on the upper and lower arms of the left arm (201), the upper and lower arms of the right arm (202), the thigh and shin of the left leg (203), and the thigh and shin of the right leg (204).

[0160] The contact sensing / shock absorption cover (1) may include a shock absorption layer (20), a fiber pressure sensor (10), and a protective layer (40). The shock absorption layer (20) may be installed on the arms (201, 202) or legs (203, 204) of a humanoid robot (200), and the fiber pressure sensor (10) and the protective layer (40) may be sequentially stacked over the shock absorption layer (20).

[0161] A humanoid robot (200) may include a plurality of motors (M) that operate both arms (201, 202) and both legs (203, 204). For example, it may include a plurality of motors (M) and a plurality of motor control units capable of operating the upper and lower arms of the left arm (201) of the humanoid robot (200), the upper and lower arms of the right arm (202), the thigh and shin of the left leg (203), and the thigh and shin of the right leg (204), respectively.

[0162] The fiber pressure sensor (10) of the contact sensing / shock absorption cover (1) can be electrically connected to the motor control unit of the humanoid robot (200). For example, the fiber pressure sensor (10) of the contact sensing / shock absorption cover (1), installed on the lower arm of the left arm (201) of the humanoid robot (200), can be electrically connected to the motor control unit that controls the motor (M) that operates the left arm (201) of the humanoid robot (200).

[0163] Accordingly, when the moving part of the humanoid robot (200), for example, the arm (201, 202) or the leg (203, 204), collides with an object or a person while the humanoid robot (200) is moving or working, the fiber pressure sensor (10) of the contact sensing / shock absorption cover (1) can be activated to stop or decelerate the motor (M) of the collided arm or leg.

[0164] For example, when the forearm of the left arm (201) of the humanoid robot (200) collides with an object, the fiber pressure sensor (10) of the contact sensing / shock absorption cover (1) installed on the forearm of the left arm (201) can output a motor control signal to the motor control unit of the forearm and upper arm of the left arm (201) to stop the motor (M). Then, since the left arm (201) of the humanoid robot (200) stops, damage to the left arm (201) and the object can be minimized.

[0165] At this time, when the forearm of the left arm (201) of the humanoid robot (200) collides with an object, the impact generated is absorbed by the impact absorption layer (20) of the contact sensing / impact absorption cover (1), so that damage to the forearm of the left arm (201) of the humanoid robot (200) and the object can be prevented or minimized.

[0166] The contact sensing / shock absorption cover (1) may be formed with an upper contact sensing / shock absorption cover (1a) and a lower contact sensing / shock absorption cover (1b). For example, if the upper contact sensing / shock absorption cover (1a) is positioned on the upper side of the arms (201, 202) or legs (203, 204) of the humanoid robot (200) and the lower contact sensing / shock absorption cover (1b) is positioned on the lower side of the arms (201, 202) or legs (203, 204) of the humanoid robot (200), the upper contact sensing / shock absorption cover (1a) and the lower contact sensing / shock absorption cover (1b) can be joined by Velcro or magnets. Thus, the contact sensing / shock absorption cover (1) can be easily installed on both arms and both legs of the humanoid robot (200).

[0167] FIG. 11 is a drawing showing a mobile robot (300) equipped with a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure.

[0168] Referring to FIG. 11, the mobile robot (300) may include a mobile cart (301) and arms (302, 303).

[0169] The movable cart (301) may be formed to travel on a driving surface. Arms (302, 303) may be installed on the upper surface of the movable cart (301). Arms (302, 303) may be formed to load or unload objects onto the movable cart (301). The arms may include an upper arm (303) and a lower arm (302).

[0170] A contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure may be installed on the arms (302, 303) of a mobile robot (300). For example, a contact sensing / shock absorbing cover (1) according to one or more embodiments of the present disclosure may be installed on the upper arm (303) and lower arm (302) of the mobile robot (300), respectively.

[0171] The fiber pressure sensor (10) of the contact sensing / shock absorbing cover (1) can be electrically connected to the motor control unit of the mobile robot (300). For example, the fiber pressure sensor (10) of the two contact sensing / shock absorbing covers (1) installed on the lower arm (302) and upper arm (303) of the mobile robot (300) can be electrically connected to the motor control unit that controls two motors (M) that operate the lower arm (302) and upper arm (303) of the mobile robot (300).

[0172] Accordingly, when the moving part of the mobile robot (300), i.e., the arm (302, 303), collides with an object or a person while the mobile robot (300) is moving or working, the fiber pressure sensor (10) of the contact sensing / shock absorption cover (1) installed on the arm (302, 303) can be activated to stop or decelerate the motor (M) of the collided arm (302, 303).

[0173] By installing a fiber pressure sensor according to one or more embodiments of the present disclosure having the above-described structure on a robot, the safety of workers around the robot can be ensured. In addition, damage caused by sudden malfunction of the robot can be minimized.

[0174] Although the present disclosure has been illustrated and described above with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present disclosure as defined by the appended claims and equivalents.

Claims

1. A fiber pressure sensor for a robot installed in the moving part of a robot, A lower fabric layer formed of a non-conductive fabric, installed in the moving part of the above-mentioned robot; A lower electrode layer installed on the upper side of the lower fabric layer and formed of a conductive fabric; An elastic layer formed of a non-conductive fabric having elasticity, installed on the upper side of the lower electrode layer; An upper electrode layer installed on the upper side of the elastic layer and formed of a conductive fabric; An upper fabric layer formed of a non-conductive fabric and installed on the upper side of the upper electrode layer; and A fiber pressure sensor for a robot comprising: a sensor circuit electrically connected to the upper electrode layer and the lower electrode layer, and formed to output a signal according to a change in capacitance between the upper electrode layer and the lower electrode layer.

2. In Paragraph 1, A fiber pressure sensor for a robot, wherein an adhesive layer is interposed between the lower fabric layer and the lower electrode layer, between the lower electrode layer and the elastic layer, between the elastic layer and the upper electrode layer, and between the upper electrode layer and the upper fabric layer.

3. In Paragraph 1, The above sensor circuit is, A measurement module that measures the capacitance between the upper electrode layer and the lower electrode layer and outputs an electrical signal corresponding to the measured capacitance; and A fiber pressure sensor for a robot, comprising: an analysis module electrically connected to the measurement module and outputting a motor control signal when the electrical signal output from the measurement module exceeds a reference value.

4. In Paragraph 3, The robot is electrically connected to the analysis module and includes a motor control unit that operates the moving part, A fiber pressure sensor for a robot, wherein the motor control unit stops or decelerates the moving unit when the motor control signal is received from the analysis module.

5. In Paragraph 1, A fiber pressure sensor for a robot, further comprising a shock absorption layer installed on the lower side of the above-mentioned lower fabric layer and formed to absorb shock caused by external force.

6. In Paragraph 5, The above shock absorption layer is formed of foam, and The above foam is formed from one of extruded polyethylene foam, expanded polystyrene (EPS, Expanded PolyStyrene, Styrofoam), polyurethane foam, or expanded polypropylene, forming a fiber pressure sensor for a robot.

7. In Paragraph 5, A fiber pressure sensor for a robot, further comprising a soft foam installed between the lower fabric layer and the shock absorption layer and formed to absorb shock caused by external force.

8. In Paragraph 7, A fiber pressure sensor for a robot, wherein the soft foam is formed from one of ethylene vinyl acetate (EVA), polyvinyl chloride (PVC), or thermoplastic elastomer (TPE).

9. In Paragraph 1, A fiber pressure sensor for a robot, further comprising a protective layer formed of fabric and installed on the upper side of the upper fabric layer.

10. In Paragraph 9, The above protective layer is formed of polyester fabric, a fiber pressure sensor for a robot.

11. A movable part having a column shape; A motor formed to operate the above-mentioned moving part; A motor control unit formed to control the above motor; A contact sensing / shock absorption cover installed on the above-mentioned moving part and formed to absorb shock caused by external force; and It includes a fiber pressure sensor installed on the contact sensing / shock absorption cover; and The above fiber pressure sensor is, A lower fabric layer formed of a non-conductive fabric; A lower electrode layer installed on the upper side of the lower fabric layer and formed of a conductive fabric; An elastic layer formed of a non-conductive fabric having elasticity, installed on the upper side of the lower electrode layer; An upper electrode layer installed on the upper side of the elastic layer and formed of a conductive fabric; An upper fabric layer formed of a non-conductive fabric and installed on the upper side of the upper electrode layer; and A robot comprising: a sensor circuit electrically connected to the upper electrode layer and the lower electrode layer, and formed to output a signal according to a change in capacitance between the upper electrode layer and the lower electrode layer.

12. In Paragraph 11, The above sensor circuit is, A measurement module that measures the capacitance between the upper electrode layer and the lower electrode layer and outputs an electrical signal corresponding to the measured capacitance; and The apparatus includes an analysis module that is electrically connected to the measurement module and outputs a motor control signal to the motor control unit when the electrical signal output from the measurement module exceeds a reference value. A robot in which the motor control unit stops or decelerates the motor when a motor control signal is received from the fiber pressure sensor.

13. In Paragraph 11, The above contact sensing / shock absorption cover is, An upper contact sensing / shock absorption cover installed on the upper side of the above-mentioned moving part; A lower contact sensing / shock absorption cover installed on the lower side of the above-mentioned moving part; and A robot comprising a coupling device that combines the upper contact sensing / shock absorbing cover and the lower contact sensing / shock absorbing cover.

14. In Paragraph 13, The above coupling device is a robot formed of Velcro or magnets.

15. In Paragraph 11, The above contact sensing / shock absorption cover is, A shock-absorbing layer installed on the lower side of the above-mentioned lower fabric layer and formed of an elastic material; and A robot further comprising a protective layer formed of fabric and installed on the upper side of the upper fabric layer.

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