Capacitive Multi-Axis Force Torque Sensing for Direct Robot Teaching
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Solution Overview
Problem
Current robot programming methods require extensive knowledge of robot kinematics, programming languages, and software, making them time-consuming and complex for end-users, and existing force/torque sensors are prone to noise and drift, limiting their suitability for precise robotic applications.
Innovation Solution
A multi-axis force/torque sensor using capacitive measurement elements independent of the compliant mechanism, which optimizes sensitivity and minimizes noise, combined with a user-friendly interface for intuitive robot programming, allowing direct teaching of tasks by human gesture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional robot programming methods are used, then programming can be performed with existing tools, but programming complexity and time increase significantly
Solution Approach 1:
The patent replaces traditional mechanical teaching pendant operations with a capacitive sensing system that detects human gestures and forces. The capacitive sensor array measures hand movements and applies force directly to the robot, substituting manual teaching operations with intuitive physical interaction. This eliminates the need for complex programming languages and teach pendant operations.
Solution Approach 2:
The patent introduces a capacitive sensor array as an intermediary between the human operator and the robot controller. The sensor array captures hand gestures and applies force, translating these physical inputs into robot motion commands. This intermediary layer simplifies the interaction by handling the complex signal processing and coordinate transformations automatically.
2Ease of operation
If force/torque sensors are used for robot teaching, then intuitive programming is enabled, but noise and drift in measurements limit precision
Solution Approach 1:
The patent divides the sensing function into multiple independent capacitive sensor elements arranged in an array. Each sensor element independently measures local displacement or force, and the collective data from all elements provides comprehensive measurement. This segmentation allows for noise reduction through signal averaging and enables precise localization of hand gestures and force application points.
Solution Approach 2:
The patent replaces traditional mechanical force/torque sensors with capacitive sensing technology. Capacitive sensors measure displacement and force through electrical field changes rather than mechanical strain, eliminating mechanical friction, wear, and drift issues. The capacitive measurement system provides stable, noise-free signals with high precision.
3Measurement precision
If capacitive sensors are used, then measurement precision and stability improve, but sensor independence from compliant mechanism adds design complexity
Solution Approach 1:
The patent separates the sensing function from the compliant mechanism by using independent capacitive sensor elements. The sensors are positioned to measure displacement or force without being mechanically coupled to the compliant structure, allowing independent optimization of both the sensing system and the compliant mechanism.
Solution Approach 2:
The capacitive sensor array serves multiple functions simultaneously: it measures hand gesture position, detects applied force magnitude and direction, and provides tactile feedback. This multi-functionality reduces the need for separate sensors for each measurement type, simplifying the overall system design despite the advanced sensing technology.
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
The solution reduces programming complexity and time by interpreting user intent through force/torque sensors, providing precise and stable measurements, and enabling easier robot programming without requiring advanced technical knowledge.
Implementation Method 1
A first capacitive sensing element is positioned on the fixed frame and a second capacitive sensing element is positioned on the moving frame. The capacitance of the first capacitive sensing element and the capacitance of the second capacitive sensing element are measured.
Data Source
AI summary
This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.