Compliant Tactile Sensing Coverage Across Robotic Joints
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Solution Overview
Problem
Challenges exist in expanding tactile sensing regions on robotic hands and bodies, particularly over joints where collisions are probable, and integrating active sensors is complex, leading to high data processing demands and limited space for additional electronics.
Innovation Solution
A compliant tactile sensing system using a compliant tactile sensor and sensor contact that mechanically transmits contact forces without active components, reducing data processing complexity and enabling larger sensing regions without redesigning existing sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If active sensors are integrated to expand tactile sensing regions, then sensing coverage is improved, but device complexity and data processing demands increase
Solution Approach 1:
The system divides the tactile sensing function into two segments: a passive sensor contact that collects mechanical forces and a compliant tactile sensor that processes the signals. This segmentation allows the sensing coverage to be expanded by adding more sensor contacts without increasing the complexity of each individual sensor unit, as they all use the same simple passive design.
Solution Approach 2:
The compliant tactile sensor acts as an intermediary between the sensor contact and the control system. It receives mechanical forces from the sensor contact through the elastic skin and converts them into electrical signals, thereby mediating the interaction and enabling expanded sensing coverage without direct integration complexity.
2Area of stationary object
If active sensors are integrated to expand tactile sensing regions, then sensing coverage is improved, but data processing complexity increases
Solution Approach 1:
The system extracts the signal processing function from the sensor contact and concentrates it in the compliant tactile sensor. By taking out the complex processing requirements from the distributed sensor contacts, each contact can remain simple and passive, thereby expanding sensing coverage without proportionally increasing data processing complexity at each location.
Solution Approach 2:
The compliant tactile sensor performs self-processing by automatically converting mechanical forces into electrical signals and filtering out noise. This self-service capability at each sensing location reduces the need for complex external data processing, thereby enabling expanded sensing coverage with manageable data processing demands.
3Area of stationary object
If additional electronics are added to expand tactile sensing regions, then sensing coverage is improved, but available space is reduced
Solution Approach 1:
The sensor contact is designed as a simple, inexpensive passive component that can be easily added or removed. This disposable-like design allows for expanded sensing coverage through multiple simple contacts without requiring permanent integration of complex electronics at each location, thereby preserving space for other components.
Solution Approach 2:
The compliant tactile sensor serves multiple functions: it acts as both the sensing element and the signal processing unit. This multi-functionality eliminates the need for separate electronics at each sensor contact location, thereby enabling expanded sensing coverage without reducing the available space for other robotic components.
Data Source
AI summary
A tactile sensing system includes a compliant tactile sensor having a first compliant member and a sensing circuit arranged to detect and measure a response of the first compliant member to contact forces applied to the first compliant member. The tactile sensing system includes a sensor contact disposed adjacent to the first compliant member to mechanically engage and apply a first contact force to the first compliant member in response to a second contact force applied to the sensor contact.