Fluid Bag Force Detector for Inflatable Robot Tangential Contact
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Solution Overview
Problem
Existing force detectors, such as those used in inflatable robots, struggle to accurately calculate forces acting in tangential directions due to their rigid and heavy design, which is incompatible with the lightweight and flexible nature of inflatable structures.
Innovation Solution
A force detector comprising multiple fluid containers supported by a sheet-shaped member, where internal pressures are detected and used by a computer to calculate forces in tangential directions based on pressure differences between adjacent containers, allowing for accurate measurement of forces applied to a contact surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If rigid force sensors (load cells or torque sensors) are used in inflatable robots, then force detection capability is improved, but the lightweight and flexible characteristics are lost
Solution Approach 1:
The patent uses pneumatic pressure sensors to detect forces in inflatable robot fingertips. Instead of rigid load cells or torque sensors, the invention measures internal pressure changes in the inflatable chambers to calculate contact forces, maintaining the lightweight and flexible characteristics while achieving force detection capability.
2Weight of moving object
If a single fluid container is used to detect contact force, then the lightweight and flexible characteristics are maintained, but the ability to calculate tangential direction force is lost
Solution Approach 1:
The patent divides the inflatable structure into multiple adjacent fluid containers (first and second fluid containers) within the fingertip. By measuring pressure differences between these segmented containers, the system can calculate forces in tangential directions, overcoming the limitation of single-container designs while maintaining light weight.
3Measurement precision
If multiple fluid containers are used to calculate tangential force, then force measurement precision in tangential direction is improved, but device complexity increases
Solution Approach 1:
The patent makes the multiple fluid containers serve multiple functions: they act as both structural elements of the inflatable fingertip and as sensing elements for force detection. The same containers that provide the flexible contact surface also serve as pressure sensors, eliminating the need for separate sensing mechanisms and reducing overall device complexity.
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
Enables precise calculation of forces in tangential directions, enhancing the capability of inflatable robots to interact with humans by providing accurate mechanical contact and force control, while maintaining the lightweight and flexible characteristics of inflatable structures.
Implementation Method 1
The detector is configured to detect an internal pressure of the first fluid container and an internal pressure of the second fluid container
Data Source
AI summary
A force detector includes a support, fluid bags, a contact portion, a detector, and a computer. The contact portion is opposite to a side on which the fluid bags are in contact with the support and is adjacent to the fluid bags. The computer obtains information regarding the internal pressures of the fluid bags from the detector. Upon application of an external force to the contact portion from an object, the computer calculates a force acting in a tangential direction on a contact surface between the object and the contact portion based on a difference between the internal pressures of the fluid bags.