Robotic sensing device and tactile sensor thereof

Abstract

A robotic sensing device (100) and a tactile sensor (200) thereof. The robotic sensing device (100) includes: a tactile sensor (200), which has a sensing unit (10) and a capacitance measurement unit (20), wherein the sensing unit (10) comprises a first dielectric layer (101), a second conductive layer (102), a third insulating layer (103), a fourth conductive layer (104) and a fifth insulating layer (105), the capacitance measurement unit (20) has a positive electrode and a negative electrode, the positive electrode being electrically connected to the second conductive layer (102) of the sensing unit (10) and the negative electrode being electrically connected to the fourth conductive layer (104) of the sensing unit (10), and the capacitance measurement unit (20) measures a changed capacitance value obtained from a change in the capacitance value of the sensing unit (10) caused by a conductive object approaching, touching or pressing the sensing unit (10); and a processing unit (30), which uses the changed capacitance value measured by the capacitance measurement unit (20) to establish a correspondence between the changed capacitance value and a sensed position on a robot, and then knows, by means of a machine learning training model, an actual position where the conductive object approaches, touches or presses, and a tactile sensation.

Description

Robotic sensing devices and their tactile sensors Technical Field

[0001] This invention relates to a robot sensing device and its tactile sensor, particularly a robot sensing device and its tactile sensor with a simple structure, capable of being fabricated into a large-area sensing element, and possessing multi-dimensional force sensing mechanisms such as proximity, contact, pressure, and shear force. Background Technology

[0002] The development of humanoid robots has progressed rapidly after the introduction of artificial intelligence. However, in order to enter an environment where they can collaborate with humans, more powerful tactile sensors are needed to ensure safety and correct execution of actions. These sensors should include multi-dimensional force sensing mechanisms such as proximity, contact, pressure, and shear force to make the interaction between humanoid robots and humans more coordinated.

[0003] Currently, tactile sensors in the industry can be broadly classified into several types based on their different principles, such as piezoresistive effect, piezoelectric effect, capacitive and resistive. However, due to the single-element design concept, hundreds or thousands of tactile sensors must be deployed to improve sensitivity. In the event of a collision, the probability of damage is very high, which is the biggest bottleneck and mass production challenge for humanoid robot tactile sensors.

[0004] Existing piezoresistive tactile sensors, such as Tesla's tactile sensor, utilize the properties of piezoelectric resistance. By deforming the structure, resistance changes are generated, and normal force and shear force are sensed. The sensitivity of a single sensor can meet the needs of humanoid robots, and large-area matrix sensors can be mass-produced using semiconductor processes. However, the signal contacts and signal processing volume after a large number of such single components are installed will inevitably be considerable. Consequently, more high-performance processors are needed to process a large number of signals, thus increasing costs and making the manufacturing structure more complex.

[0005] In view of the above problems, how to manufacture large-area sensing elements, and how to make the sensing elements simple in structure and easy to attach to the surface of the robot, while having a sensing mechanism for multiple dimensions of force such as proximity, contact, pressure and shear force, is a problem that the industry urgently needs to solve. Summary of the Invention

[0006] This invention provides a simple and large-area sensing element, as well as a robot sensing device with flexible characteristics. The tactile sensor of the robot sensing device is easy to attach to the robot surface and has a multi-dimensional force sensing mechanism, including proximity, contact, pressure and shear force.

[0007] To achieve the above objectives, the present invention provides a robot sensing device, comprising: a sensing unit having a first dielectric layer, a second conductive layer, a third insulating layer, a fourth conductive layer, and a fifth insulating layer; a capacitance detection unit having a positive electrode and a negative electrode, the positive electrode being electrically connected to the second conductive layer of the sensing unit, and the negative electrode being electrically connected to the fourth conductive layer of the sensing unit, and detecting a change in the capacitance value of the sensing unit caused by a conductive object approaching, touching, or pressing the sensing unit, thereby obtaining a changed capacitance value; and a processing unit that uses the changed capacitance value detected by the capacitance detection unit to establish a correspondence between the changed capacitance value and the position of the sensing robot, and then trains a model through a machine learning (ML) method to know the actual position and tactile sensation of the conductive object approaching, touching, or pressing the robot.

[0008] To achieve the above objectives, the present invention provides a tactile sensor applied to a robot and attached to the surface of the robot, comprising: a sensing unit having a first dielectric layer, a second conductive layer, a third insulating layer, a fourth conductive layer, and a fifth insulating layer; and a capacitance detection unit having a positive electrode and a negative electrode, the positive electrode being electrically connected to the second conductive layer of the sensing unit, and the negative electrode being electrically connected to the fourth conductive layer of the sensing unit, and detecting changes in the capacitance value of the sensing unit caused by a conductive object approaching, touching, or pressing the sensing unit, thereby obtaining a changed capacitance value; wherein, based on the changed capacitance value detected by the capacitance detection unit, after analysis and calculation, the correspondence between the changed capacitance value and the sensing position of the robot is obtained, thereby determining the actual position of the conductive object approaching, touching, or pressing the robot and a tactile sensation.

[0009] Preferably, the first dielectric layer is a dielectric material, the second and fourth conductive layers are conductive films, the third insulating layer is an elastic dielectric material or an insulating material, and the fifth insulating layer is a dielectric material or an insulating material.

[0010] Preferably, the first dielectric layer is a flexible plastic film with dielectric properties, and is one of PET plastic film, PVC plastic film, PE plastic film, PP plastic film, PU plastic film, PI plastic film, PEN plastic film, PPS plastic film or TPU plastic film.

[0011] Preferably, the second conductive layer is a conductive film, which is woven from conductive yarn, stainless steel wire, or conductive wire, or is made of conductive cloth, conductive PE foam, conductive PU foam, or copper foil.

[0012] Preferably, the fourth conductive layer is a conductive film with good conductivity, such as conductive cloth or copper foil.

[0013] Preferably, the third insulating layer is a flexible plastic film, which is one of silicone film, PVC plastic film, PP plastic film, TPE plastic film, and PU plastic film.

[0014] Preferably, the fifth insulating layer is a flexible plastic film, which is one of PET plastic film, PVC plastic film, PE plastic film, PP plastic film or PI plastic film.

[0015] Preferably, by changing the material of any one of the first dielectric layer, the second conductive layer, the third insulating layer, the fourth conductive layer, and the fifth insulating layer, different capacitance values ​​will be detected.

[0016] Preferably, by changing the action of a conductive object approaching, touching, or pressing the sensing unit, different capacitance values ​​will be detected.

[0017] Preferably, the action of the conductive object approaching, touching or pressing the sensing unit includes the distance of the conductive object from the sensing unit, and the degree of touching or pressing the sensing unit.

[0018] Preferably, by changing the material of any one of the first dielectric layer, the second conductive layer, the third insulating layer, the fourth conductive layer, and the fifth insulating layer, and by changing the action of the conductive object approaching, touching, or pressing the sensing unit, different capacitance values ​​will be detected. Attached Figure Description

[0019] Figure 1 is a structural block diagram showing the robot sensing device of the present invention.

[0020] Figure 2 is a schematic diagram showing the sensing unit of the tactile sensor of the robot sensing device of the present invention.

[0021] Figure 3 is a schematic diagram showing the capacitance detection of the tactile sensor in the robot sensing device of the present invention.

[0022] Explanation of reference numerals: 100---Robot sensing device; 101---First dielectric layer; 102---Second conductive layer; 103---Third insulating layer; 104---Fourth conductive layer; 105---Fifth insulating layer; 10---Sensing unit; 20---Capacitance detection unit; 30---Processing unit; 40---Power supply. Detailed Implementation

[0023] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0024] Please refer to Figure 1, which is a structural block diagram showing the robot sensing device of the present invention. The robot sensing device 100 of the present invention includes: a tactile sensor 200, the tactile sensor 200 having a sensing unit 10, the sensing unit 10 having a first dielectric layer 101, a second conductive layer 102, a third insulating layer 103, a fourth conductive layer 104 and a fifth insulating layer 105 (see FIG2), and a capacitance detection unit 20 having a positive electrode and a negative electrode, the positive electrode being electrically connected to the second conductive layer 102 of the sensing unit 10, and the negative electrode being electrically connected to the fourth conductive layer 104 of the sensing unit 10, and detecting that the capacitance value of the sensing unit 10 changes due to a conductive object approaching, touching or pressing the sensing unit 10, thereby obtaining a changed capacitance value; and a processing unit 30, which detects the changed capacitance value generated by the capacitance detection unit 20, establishes a correspondence between the changed capacitance value and the position of the sensing robot, and then trains a model through a machine learning (ML) method to know the actual position and tactile sensation of the conductive object approaching, touching or pressing the robot.

[0025] In this embodiment, the robot sensing device 100 of the present invention provides a low voltage to the sensing unit 10 of the tactile sensor 200 via a power supply 40, so that when the conductive object such as a human body approaches, touches or presses the tactile sensor 200, the capacitance detection unit 20 detects the change in the capacitance value of the sensing unit 10.

[0026] Please continue to refer to Figure 1 and, in conjunction with Figure 2, which is a schematic diagram showing the sensing unit of the tactile sensor of the robot sensing device of the present invention. The tactile sensor 200 of the present invention is attached to the surface of the robot, and based on the capacitance detection unit 20 detecting the changing capacitance value, after analysis and calculation, the correspondence between the changing capacitance value and the sensing position of the robot is obtained, thereby determining the actual position and tactile sensation of the conductive object approaching, touching, or pressing.

[0027] In this embodiment, the first dielectric layer 101 is a dielectric material, while the second conductive layer 102 and the fourth conductive layer 104 are made of conductive yarn, stainless steel wire, or conductive wire braided together or a conductive film. The third insulating layer 103 is an elastic dielectric material or an insulating material, and the fifth insulating layer 105 is a dielectric material or an insulating material.

[0028] Please continue to refer to Figures 1 and 2, and then refer to Figure 3, which is a schematic diagram showing the capacitance detection of the sensing unit of the tactile sensor of the robot sensing device of the present invention. In this embodiment, the second conductive layer 102 of the sensing unit 10 of the tactile sensor 200 is made of two different materials, as shown in Figure 3. The material of the second conductive layer 102 located in the center of the fourth conductive layer 104 is different from the material of the second conductive layers 102 surrounding the center. The second conductive layer 102 located in the center mainly functions to approach, touch, or press, while the second conductive layers 102 located around the center are copper foil electrodes, mainly functioning to approach, and of course also have the functions of touching and pressing. However, compared with the second conductive layer 102 located in the center, the sensing is less sensitive. By measuring the change in capacitance value by the sensing unit 10, the position of the conductive object approaching, touching, or pressing can be determined.

[0029] The robot sensing device 100 of the present invention provides a low voltage to the sensing unit 10 of the tactile sensor 200 via a power supply 40. The power supply 40 also has a positive electrode and a negative electrode. The positive electrode is electrically connected to the second conductive layer 102 of the sensing unit 10, and the negative electrode is electrically connected to the fourth conductive layer 104 of the sensing unit 10. The sensing unit 10 has an intrinsic capacitance with respect to a ground plane (not shown). When a conductive object, such as a human body, approaches, touches, or presses the tactile sensor 200, the sensor detects the impact of the touch on the sensor through the second conductive layer 102 located at the center and the second conductive layers 102 surrounding the center of the sensing unit 10. The capacitance values ​​of element 10 vary in four directions to locate the position in the XY plane and the position in the XYZ solid dimension, thereby determining the position where the conductive object is approached, touched, or pressed. The position in the XY plane can be a bar graph containing bars in the four cardinal directions. The height values ​​of the four bars indicate the planar position where the conductive object is approached, touched, or pressed. The position in the XYZ solid dimension can be a rectangular coordinate graph dividing the XYZ space into eight parts. The values ​​presented by the eight parts of the rectangular coordinate graph indicate the three-dimensional position where the conductive object is approached, touched, or pressed.

[0030] Furthermore, the tactile sensor 200 of the present invention obtains a changed capacitance value by having a conductive object approach, touch, or press the sensing unit 10. In this embodiment, the changed capacitance value will vary depending on the power supply 40 provided, the material used in the five-layer structure of the sensing unit 10, and the different actions of the conductive object approaching, touching, or pressing.

[0031] The following results in different capacitance values ​​depending on the different power supplies 40 provided, the different materials of the five-layer structure of the sensing unit 10, and the different ways in which the conductive object approaches, touches, or presses the sensing unit 10.

[0032] Example 1

[0033] In this example, the materials of the five-layer structure of the sensing unit 10 are changed, and different capacitance values ​​are generated according to the different actions of the conductive object approaching, touching, or pressing the sensing unit 10. In this example, the conductive object is, for example, a finger, and the power supply 40 is 5.2V. The first dielectric layer 101 is a PET plastic film, the third insulating layer 103 and the fifth insulating layer 105 are PP plastic films, and the second conductive layer 102 and the fourth conductive layer 104 are stainless steel mesh woven from stainless steel wire. Different capacitance values ​​are generated according to the number of times the finger presses and the pressure applied, as shown in Table 1.

[0034] Table 1

[0035] As shown in Table 1 above, the change in capacitance value varies depending on the number of times the conductive object presses the sensing unit 10 and the pressure applied, as the material combination of the five-layer structure of the sensing unit 10 is changed.

[0036] Example 2

[0037] In this example, the main change is the action of a conductive object approaching, touching, or pressing the sensing unit 10. In this example, the conductive object is, for example, a finger, and the power supply 40 is 5.2V. The first dielectric layer 101 is a PET plastic film, the third insulating layer 103 and the fifth insulating layer 105 are PP plastic films, and the second conductive layer 102 and the fourth conductive layer 104 are stainless steel mesh woven from stainless steel wire, as shown in Table 2.

[0038] Table 2

[0039] As shown in Table 2 above, without changing the material of the five-layer structure of the sensing unit 10, only changing the action of a conductive object approaching, touching or pressing the sensing unit 10, and depending on the number of times the conductive object approaches and presses the sensing unit 10 and the pressure applied, the change in capacitance value will also be different.

[0040] Example 3

[0041] In this example, the materials of the first dielectric layer 101, the second conductive layer 102, the fourth conductive layer 104, and the fifth insulating layer 105 are fixed. The thickness of the third insulating layer PP plastic film is changed, and the conductive object, such as a finger, is pressed to the bottom. By pressing the sensing unit 10 three times, a similar capacitance value change is obtained. In this example, the power supply 40 is 5V, the first dielectric layer 101 is a PE plastic film, the third insulating layer 103 and the fifth insulating layer 105 are PP plastic films, and the second conductive layer 102 and the fourth conductive layer 104 are copper foil, as shown in Table 3.

[0042] Table 3

[0043] As can be seen from Table 3 above, by changing the thickness of the third insulating layer and by changing the number of times the sensing unit 10 is pressed, the change in capacitance value will also be different.

[0044] Example 4

[0045] In this example, the materials of the first dielectric layer 101, the second conductive layer 102, the fourth conductive layer 104, and the fifth insulating layer 105 are fixed. The thickness of the third insulating layer is changed, and a conductive object, such as a finger, is pressed to the bottom. By pressing the sensing unit 10 three times, a similar capacitance value change is obtained. In this example, the power supply 40 is 5V, the first dielectric layer 101 is a PE plastic film, the third insulating layer 103 is a PU plastic film, the fifth insulating layer 105 is a PVC plastic film, and the second conductive layer 102 and the fourth conductive layer 104 are copper foils, as shown in Table 4.

[0046] Table 4

[0047] As shown in Table 4 above, by changing the thickness of the third insulating layer 103PU plastic film and by changing the number of times the sensing unit 10 is pressed, the change in capacitance value will also be different.

[0048] Example 5

[0049] In this example, only the material of the first dielectric layer 101 is changed. By changing the material of the first dielectric layer 101 and pressing the conductive object, such as a finger, to the bottom, and by pressing the sensing unit 10 a different number of times, different capacitance values ​​are obtained. In this example, the power supply 40 is 5V, and the first dielectric layer 101 is made of various materials, as shown in Table 5 below. The third insulating layer 103 is a PP plastic film, the fifth insulating layer 105 is a PVC plastic film, and the second conductive layer 102 and the fourth conductive layer 104 are copper foil.

[0050] Table 5

[0051] As can be seen from Table 5 above, by changing the material of the first dielectric layer 101 and by changing the number of times the sensing unit 10 is pressed, the change in capacitance value will also be different.

[0052] As described above, the robot sensing device and tactile sensor 200 of the present invention can generate different capacitance values ​​by changing the power supply, the material of the five-layer structure of the sensing unit, and the distance of the conductive object from the sensing unit, the force of touching the sensing unit, or the intensity or number of times the sensing unit is pressed. By detecting the generated changes in capacitance values, a correspondence between the changes in capacitance values ​​and the sensing position of the robot can be established. Then, by training a machine learning (ML) model, the actual position and tactile sensation of the conductive object approaching, touching, or pressing can be determined. This makes the manufacturing structure of the robot sensing device of the present invention simple, allows for the fabrication of large-area sensing elements, and has flexible characteristics. It also makes the tactile sensor 200 easy to adhere to the robot surface and has a multi-dimensional force sensing mechanism such as proximity, contact, pressure, and shear force.

Claims

1. A robot sensing device, comprising: A sensing unit has a first dielectric layer, a second conductive layer, a third insulating layer, a fourth conductive layer and a fifth insulating layer; A capacitance detection unit has a positive electrode and a negative electrode. The positive electrode is electrically connected to a second conductive layer of the sensing unit, and the negative electrode is electrically connected to a fourth conductive layer of the sensing unit. It detects changes in the capacitance value of the sensing unit caused by a conductive object approaching, touching, or pressing the sensing unit, thereby obtaining a changed capacitance value. A processing unit detects the changing capacitance value generated by the capacitance detection unit, establishes a correspondence between the changing capacitance value and the sensing position of the robot, and then trains a model through a machine learning (ML) method to know the actual position and tactile sensation of the conductive object approaching, touching or pressing.

2. The robot sensing device as claimed in claim 1, wherein the first dielectric layer is a flexible plastic film with dielectric properties, the second conductive layer is a conductive film, the fourth conductive layer is a conductive film with better conductivity, the third insulating layer is a dielectric material or insulating material of the soft plastic film, and the fifth insulating layer is a dielectric material or insulating material.

3. The robot sensing device as described in claim 1 or 2, wherein the first dielectric layer is one of PET plastic film, PVC plastic film, PE plastic film, PP plastic film, PU plastic film, PI plastic film, PEN plastic film, PPS plastic film or TPU plastic film.

4. The robot sensing device as described in claim 1 or 2, wherein the second conductive layer is made of conductive yarn, stainless steel wire, or conductive filament, or conductive cloth, conductive PE foam, conductive PU foam, or copper foil.

5. The robot sensing device as claimed in claim 1 or 2, wherein the fourth conductive layer is either conductive cloth or copper foil.

6. The robot sensing device as described in claim 1 or 2, wherein the third insulating layer is one of a silicone film, a PVC plastic film, a PP plastic film, a TPE plastic film, or a PU plastic film.

7. The robot sensing device as described in claim 1 or 2, wherein the fifth insulating layer is one of PET plastic film, PVC plastic film, PE plastic film, PP plastic film or PI plastic film.

8. The robot sensing device as claimed in claim 1, wherein different capacitance values ​​will be detected by changing the material of any one of the first dielectric layer, the second conductive layer, the third insulating layer, the fourth conductive layer, and the fifth insulating layer.

9. The robot sensing device of claim 1, wherein different capacitance values ​​will be detected by changing the action of a conductive object approaching, touching, or pressing the sensing unit.

10. The robot sensing device of claim 1, wherein the action of the conductive object approaching, touching or pressing the sensing unit includes the distance of the conductive object approaching the sensing unit, and the degree of touching the sensing unit or the different intensities or numbers of pressing the sensing unit.

11. The robot sensing device as claimed in claim 1, wherein by changing the material of any one of the first dielectric layer, the second conductive layer, the third insulating layer, the fourth conductive layer, and the fifth insulating layer, and in conjunction with changing the action of the conductive object approaching, touching, or pressing the sensing unit, different capacitance values ​​will be detected.

12. A tactile sensor applied to a robot and attached to the surface of the robot, comprising: A sensing unit, comprising a first dielectric layer, a second conductive layer, a third insulating layer, a fourth conductive layer, and a fifth insulating layer; and A capacitance detection unit has a positive electrode and a negative electrode. The positive electrode is electrically connected to the second conductive layer of the sensing unit, and the negative electrode is electrically connected to the fourth conductive layer of the sensing unit. The unit detects changes in capacitance value caused by a conductive object approaching, touching, or pressing the sensing unit, and obtains a changed capacitance value. The capacitance detection unit detects the changing capacitance value, and after analysis and calculation, it determines the correspondence between the changing capacitance value and the position of the robot, thereby determining the actual position and tactile sensation of the conductive object approaching, touching, or pressing.

13. The tactile sensor of claim 12, wherein the first dielectric layer is a flexible plastic film with dielectric properties, the second conductive layer and the fourth conductive layer are conductive films, the third insulating layer is a dielectric material or an insulating material of the flexible plastic film, and the fifth insulating layer is a dielectric material or an insulating material.

14. The tactile sensor as claimed in claim 12 or 13, wherein the first dielectric layer is one of a PET plastic film, a PVC plastic film, a PE plastic film, a PP plastic film, a PU plastic film, a PI plastic film, a PEN plastic film, a PPS plastic film, or a TPU plastic film.

15. The tactile sensor as claimed in claim 12 or 13, wherein the second conductive layer is made of one of the following: conductive yarn, stainless steel wire, conductive filament, conductive cloth, conductive PE foam, conductive PU foam, or copper foil.

16. The tactile sensor as claimed in claim 12 or 13, wherein the fourth conductive layer is either a conductive cloth or a copper foil.

17. The tactile sensor as claimed in claim 12 or 13, wherein the third insulating layer is one of a silicone film, a PVC plastic film, a PP plastic film, a TPE plastic film, or a PU plastic film.

18. The tactile sensor as claimed in claim 12 or 13, wherein the fifth insulating layer is one of a PET plastic film, a PVC plastic film, a PE plastic film, a PP plastic film, or a PI plastic film.

19. The tactile sensor of claim 12, wherein different capacitance values ​​can be detected by changing the material of any one of the first dielectric layer, the second conductive layer, the third insulating layer, the fourth conductive layer, and the fifth insulating layer.

20. The tactile sensor of claim 12, wherein different capacitance values ​​are detected by changing the action of a conductive object approaching, touching, or pressing the sensing unit.

21. The tactile sensor of claim 12, wherein the action of the conductive object approaching, touching, or pressing the sensing unit includes the distance at which the conductive object approaches the sensing unit, and the degree of touch on the sensing unit, or the different intensities or numbers of presses on the sensing unit.

22. The tactile sensor as claimed in claim 12, wherein by changing the material of any one of the first dielectric layer, the second conductive layer, the third insulating layer, the fourth conductive layer, and the fifth insulating layer, and in conjunction with changing the action of the conductive object approaching, touching, or pressing the sensing unit, different capacitance values ​​will be detected.

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