Capacitive Force Sensor Segmentation for Grasping Accuracy
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Solution Overview
Problem
In existing force sensors, the detection unit device is constituted by a single cell, leading to increased membrane area and deformation per unit load, which can result in reduced accuracy in grasping position due to significant surface deformation when detecting grasping forces in robots.
Innovation Solution
A capacitive force sensor design featuring multiple cells electrically connected in parallel, allowing for reduced membrane area and deformation by dividing the membrane into smaller parts, with each cell having a separate support structure and electrodes, thereby minimizing surface deformation under load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the detection device area is increased, then the detection coverage is improved, but the membrane deformation per unit load is increased
Solution Approach 1:
The patent divides the detection device into multiple cells (e.g., 2x2 or 3x3 arrays), where each cell contains its own membrane, electrodes, and support structure. This segmentation allows the total detection area to be increased while each individual membrane maintains a small area, thereby reducing deformation per unit load and preserving measurement precision.
2Area of moving object
If the membrane area is increased, then the detection device area is improved, but the membrane deformation under load is increased
Solution Approach 1:
The detection device is segmented into multiple independent cells, each with its own small-area membrane. This allows the overall detection area to be large while each individual membrane remains small, reducing deformation under load and maintaining reliable force detection accuracy.
3Device complexity
If a single cell structure is used, then the device complexity is reduced, but the membrane area and deformation are increased
Solution Approach 1:
The device uses multiple simple cell structures arranged in an array rather than one complex large cell. Each cell is identical and independent, which actually simplifies manufacturing while achieving the goal of reduced membrane area and improved measurement precision through the collective arrangement of multiple small cells.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This design reduces membrane deformation per unit load, enhancing the accuracy of grasping force detection and maintaining precision in the position of handled objects by minimizing surface deformation, thus improving the accuracy of robotic grasping operations.
Implementation Method 1
The magnitude of the applied load is detected by detecting the distance between the upper and lower electrode in terms of capacitance
Data Source
AI summary
A capacitive force sensor 101 of the present invention includes a plurality of cells each including a lower electrode 104, a movable member that includes an upper electrode 107 and has flexibility, and a support 105b arranged to movably support the movable member and to form a gap 106 between the upper and the lower electrodes. The plural cells are grouped into elements each including one or more of the cells, and the one or more cells in a same element are electrically connected to each other.