Finger Movement-Sensing Assembly with Bend and Depression Detection
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Solution Overview
Problem
Conventional finger movement-sensing assemblies can only detect the bend degree of a finger and not the corresponding force, leading to excessive or insufficient force application when handling different objects with the same bend degree, particularly when using robotic fingers.
Innovation Solution
A finger movement-sensing assembly incorporating a flexible substrate with both bend-sensing and depression-sensing circuit structures, allowing for the detection of both bend degree and force applied on an object, utilizing a combination of circuit layers and perforations to generate signals for bend and depression sensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only bend-sensing circuit structure is used, then the bend degree of finger can be detected, but the application forcing cannot be determined
Solution Approach 1:
The patent combines bend-sensing circuit structure and depression-sensing circuit structure into a single integrated sensing assembly. The bend-sensing circuits detect finger curvature while depression-sensing circuits detect force magnitude, merging both sensing capabilities in one device to simultaneously obtain both bend degree and application forcing information.
Solution Approach 2:
The sensing assembly is designed to perform multiple functions: it can detect both the bend degree of the finger and the application forcing when handling objects. This multi-functional design allows the same device to provide comprehensive feedback for both position control and force control of robotic fingers.
2Device complexity
If only bend degree is detected, then simple sensing is achieved, but excessive or insufficient forcing occurs when handling different objects
Solution Approach 1:
The patent merges bend-sensing and depression-sensing capabilities into one integrated assembly, allowing the system to distinguish between different objects based on both bend degree and force magnitude, thereby achieving reliable force application control without excessive complexity.
3Measurement precision
If bend-sensing assembly is used for robotic finger, then bend degree can be obtained, but the forcing upon object cannot be realized
Solution Approach 1:
The patent integrates both bend-sensing and depression-sensing circuit structures in the sensing assembly, enabling the robotic finger to simultaneously obtain bend degree information for position control and force magnitude information for force control, thereby achieving complete operational control.
Solution Approach 2:
The sensing assembly provides universal sensing capability for both position (bend degree) and force (application forcing), making it suitable for comprehensive robotic finger control operations including both movement and force regulation.
Data Source
AI summary
A finger movement-sensing assembly includes a flexible substrate, a bend-sensing circuit structure and a depression-sensing circuit structure. The flexible substrate extends in a first direction for use on a finger. The flexible substrate has an outer extension section and an inner deflection section. The outer extension section is applied to be mounted onto a back of the finger, and the inner deflection section is applied to be mounted onto a pulp of the finger. The bend-sensing circuit structure is disposed on the outer extension section to produce a bend-sensing signal. The depression-sensing circuit structure is disposed on the inner deflection section to produce a depression-sensing signal.