Compliant Convex Tactile Sensor for Multi-Directional Force Detection

The patent applies curvature by transforming the planar sensor surface into a convex spherical surface. This curved geometry allows the sensor to be contacted from multiple directions while maintaining structural simplicity. The spherical shape enables detection of forces applied at various incident angles by distributing the contact points across the curved surface, thereby increasing detection versatility without significantly complicating the sensor structure.

The patent employs a flexible convex spherical shell as the sensor surface that can deform in response to applied forces. This flexible structure allows the sensor to conform to the compliant nature of low mechanical impedance fingers while still providing sufficient structural integrity for force detection. The spherical shell deforms locally at contact points, enabling detection of forces even when the overall finger structure remains compliant and deflects during contact.

The convex spherical surface provides a curved geometry that increases the probability of contact with objects of various sizes and shapes. Unlike a flat surface that requires precise alignment for detection, the spherical shape presents multiple potential contact points that can be engaged by objects approaching from different directions or with varying sizes. This curvature maintains detection sensitivity while expanding the range of detectable contacts.

The convex spherical surface naturally conforms to the curved surfaces of grasped objects, increasing the contact area and friction between the sensor and the object. This curved geometry adapts to various object shapes during manipulation, providing better grip without requiring complex adjustable mechanisms. The spherical shape maintains geometric simplicity while enabling effective conformal contact for enhanced manipulation capability.