Flexible 3D Force Sensor with Hemispherical Contact and Air Cavity
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Solution Overview
Problem
Current flexible three-dimensional force tactile sensors suffer from low measurement accuracy, limited measurement range, slow response speed, and durability issues, making them unsuitable for advanced robotic applications.
Innovation Solution
A high-sensitivity flexible three-dimensional force tactile sensor design featuring a hemispherical contact with a U-shaped, V-shaped, or W-shaped groove, a flexible inverted cone component with triangular excitation electrodes, and a flexible common electrode forming spatially distributed capacitors, utilizing silicone rubber and conductive materials for enhanced sensitivity and durability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional flexible three-dimensional force tactile sensor structures are used, then the sensor can be manufactured with simple materials and processes, but the measurement accuracy is not high and the measurement range is small
Solution Approach 1:
The sensor is divided into multiple independent working units, each consisting of a hemispherical contact element, flexible inverted cone component, and triangular excitation electrodes. Each unit independently detects force in specific directions, enabling multi-dimensional force measurement while maintaining manufacturing simplicity through modular replication
Solution Approach 2:
The patent transitions from traditional two-dimensional planar electrode arrangements to three-dimensional spatial distribution of electrodes and contact elements. The hemispherical contacts and inverted cone components create vertical and angular dimensions, enabling detection of normal force, tangential force, and torque simultaneously, thus expanding measurement range and accuracy
2Speed
If traditional flexible three-dimensional force tactile sensor structures are used, then the manufacturing process is relatively simple, but the measurement response speed is slow
Solution Approach 1:
The hemispherical contact elements and inverted cone components with curved surfaces enable more efficient force transmission and distribution compared to flat structures. The curved geometry allows for better stress distribution and faster mechanical response to applied forces, improving response speed
Solution Approach 2:
The sensor employs composite material structures combining flexible substrates with conductive materials for electrodes, and elastomeric materials for the inverted cone components. This composite approach optimizes both mechanical responsiveness and electrical signal generation, achieving fast response while maintaining structural integrity
3Reliability
If traditional flexible three-dimensional force tactile sensor structures are used, then the sensor can be manufactured with conventional materials, but the sensor is easy to wear and difficult to repair
Solution Approach 1:
The modular segmented structure allows individual contact elements and electrode units to be independently replaced if worn or damaged, improving durability through easy maintenance while keeping manufacturing straightforward through standardized modular components
Solution Approach 2:
The flexible substrate and thin-film electrode structures provide inherent durability through flexibility and resistance to cracking, while maintaining ease of manufacture through conformal deposition techniques and simple lamination processes
4Measurement precision
If simple capacitive, piezoresistive or photoelectric principles are used, then the sensor structure can be kept simple, but it is still difficult to design a novel structure with high sensitivity
Solution Approach 1:
The hemispherical contact elements and inverted cone components with curved surfaces enable more efficient force transmission and distribution compared to flat structures. The curved geometry allows for better stress distribution and faster mechanical response to applied forces, improving response speed
Solution Approach 2:
The sensor employs composite material structures combining flexible substrates with conductive materials for electrodes, and elastomeric materials for the inverted cone components. This composite approach optimizes both mechanical responsiveness and electrical signal generation, achieving fast response while maintaining structural integrity
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 sensor achieves improved sensitivity and faster response times due to the unique structure, allowing for precise detection of force magnitude and direction, with increased durability and ease of assembly, suitable for intelligent robotic and medical applications.
Implementation Method 1
a plurality of flexible triangular excitation electrodes are arranged on the side surfaces of the flexible inverted cone component... a flexible common electrode surrounding part of the flexible triangular excitation electrodes... to form an air cavity
Data Source
AI summary
A high sensitivity flexible three-dimensional force tactile sensor includes a hemispherical contact, wherein the hemispherical contact includes a tray with a groove on the surface and a hemispherical protrusion arranged in the groove. A flexible inverted cone component connected to the lower surface of the hemispherical contact, wherein a plurality of flexible triangular excitation electrode is arranged on the side surface of the flexible inverted cone component. A flexible common electrode surrounding part of the flexible triangular excitation electrode, wherein a first cavity with an opening is opened inside the flexible common electrode, parts of the flexible triangular excitation electrode and the flexible inverted cone component are arranged in the first cavity of the flexible common electrode. The flexible triangular excitation electrode and the flexible inverted cone component have no contact with the inner wall of the first cavity of the flexible common electrode to form an air cavity.