Finger Motion Sensing Interface for Durable Robot Hand Teleoperation
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Solution Overview
Problem
Conventional motion detecting devices for remotely operating multi-articulated robots, such as robot hands, face issues with low detection accuracy and durability, and are difficult to wear due to the fragility of bending-type sensors and the need for a glove that does not damage the sensors.
Innovation Solution
A motion detecting device with a device main body that includes contact parts shaped to follow the finger, detection parts that detect motion based on pressing states, and a force sense generating part that provides a reaction force, allowing for accurate and durable detection of finger motion and ease of use.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a bending-type sensor is used to detect finger motion in a glove, then motion detection is enabled, but the sensor is fragile and has low detection accuracy
Solution Approach 1:
The patent replaces the mechanical bending-type sensor with a pressure sensor that detects finger motion through pressure changes. The pressure sensor includes a pressing portion pressed by finger movement and a detection element that detects pressure, eliminating the need for fragile bending sensors while improving both detection accuracy and reliability.
Solution Approach 2:
The patent introduces a pressing portion as an intermediary between the finger and the detection element. This pressing portion translates finger motion into pressure changes that the detection element can accurately measure, improving detection accuracy while protecting the sensor from direct mechanical stress.
2Ease of operation
If a glove with embedded sensors is used for remote control, then finger motion can be detected, but it is difficult to put on the glove without damaging the sensors
Solution Approach 1:
The patent replaces the glove-based mechanical sensor system with a pressure sensor system that can be integrated into a more robust housing. This substitution allows for easier donning and doffing while protecting the sensors from damage during glove manipulation.
Solution Approach 2:
The patent transitions from a two-dimensional glove surface to a three-dimensional pressure sensor structure with a pressing portion and detection element. This dimensional change allows the sensor to be mounted in a protected position while still accurately detecting finger motion through pressure changes.
3Measurement precision
If pressure sensors are mounted on multiple finger joint parts, then comprehensive motion detection is achieved, but the device complexity increases
Solution Approach 1:
The patent merges multiple sensor functions into a single pressure sensor unit. The pressure sensor includes a pressing portion that can detect motion at multiple joint parts simultaneously, and a single detection element that measures pressure changes, reducing the number of separate sensors needed while maintaining comprehensive motion detection accuracy.
Solution Approach 2:
The pressure sensor is designed as a universal detection device that can detect finger motion at multiple joint parts. The pressing portion can be pressed by movement of any finger joint, and the detection element universally detects pressure changes regardless of the specific joint involved, simplifying the overall sensor arrangement.
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 device achieves higher accuracy in detecting finger motion and provides excellent durability and ease of wearing, enabling precise control of multi-articulated robots with improved haptic feedback.
Implementation Method 1
a detection part that detects the motion of the finger on the basis of a pressing state of the finger against the contact part
Implementation Method 2
a force sense generating part that generates a force sense against a pressing of the finger
Data Source
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AI summary
The motion detecting device 30 that detects motion of an operator's finger for remotely operating a multi-fingered robot 10 includes a device main body 32 that is installed such that the finger is placed thereon, a contact part 40 that follows a shape of the finger in the device main body 32 and is in contact with the finger, and a detection part 50 that detects the motion of the finger on the basis of a pressing state of the finger against the contact part 40.