Capacitive Sensor Substrate for Robot Hand Force Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional force sensors used in robot hands require larger strain gauges to increase resolution, leading to increased sensor size and complexity, making them less suitable for compact and thin designs.
Innovation Solution
A six-axis sensor system with a substrate featuring inclined surfaces and capacitive force sensors that detect pressing forces and moments in multiple axes, allowing for downsizing and thinning while maintaining functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a strain gauge is used to increase resolution, then measurement precision is improved, but device size increases
Solution Approach 1:
The patent replaces the mechanical strain gauge system with a capacitive sensing system. Instead of using physical strain gauges that require large mounting areas, the invention uses capacitive sensors that detect forces through electrical field changes, enabling high-resolution measurement in a compact form factor.
Solution Approach 2:
The patent changes the measurement parameter from mechanical strain (requiring large gauge areas) to capacitive coupling (enabling small sensor size). By measuring changes in capacitance rather than physical strain, the system achieves high resolution without increasing sensor unit size.
2Measurement precision
If a strain gauge is used to increase resolution, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces the complex mechanical strain gauge system with a simpler capacitive sensing system. The capacitive sensors directly measure forces through electrical field interactions, eliminating the need for complex mechanical mounting and strain transfer mechanisms required by traditional strain gauges.
3Adaptability or versatility
If multiple force sensors are arranged on inclined surfaces, then measurement versatility is improved, but manufacturing complexity increases
Solution Approach 1:
The patent creates a universal sensor substrate where capacitive sensors can detect forces in multiple directions (normal and shear forces) through a single integrated structure. The inclined surface configuration allows one sensor array to measure multiple force components, providing multi-functionality without requiring separate sensor systems for each measurement type.
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
Enables the detection of pressing forces and moments in multiple axes with a compact design, enhancing the robot hand's ability to grip and manipulate objects effectively.
Implementation Method 1
the plurality of force sensors may be capacitive type sensors
Data Source
AI summary
A sensor system according to the present disclosure includes a substrate, a force sensor, a calculation unit, and an output part. The substrate includes a reference plane and an inclined surface. The force sensor is provided on the inclined surface and outputs signals in three-axis directions that correspond to an orthogonal axis direction that is orthogonal to the inclined surface and two-axis directions that are parallel to the reference plane. The calculation unit calculates a pressing force in each coordinate axis direction of rectangular coordinates formed of an axis vertical to the reference plane and two axes parallel to the reference plane and moments around the respective coordinate axes of the rectangular coordinates. The output part outputs calculation results.