Robot Gripper Tactile Sensor for Pressure and Shear Sensing
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Solution Overview
Problem
Existing tactile sensing systems do not efficiently provide tactile information for controlling robots with grasping portions, particularly in terms of pressure distribution and shearing force distribution, which is crucial for precise robot operation.
Innovation Solution
A tactile sensing system with electrostatic capacitance-type sensors is installed on a robot's grasping portions, featuring a layered structure with an elastic layer and electrode layers to detect pressure and shearing forces, allowing for the calculation and output of pressure distributions and aggregate shearing forces to the robot's controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If tactile sensors output signals corresponding to pressure distribution and shearing force distribution, then measurement precision is improved, but device complexity increases due to the need for multiple electrode layers and complex signal processing
Solution Approach 1:
The sensor is divided into multiple electrode layers (first electrode layer with multiple first electrodes, second electrode layer with multiple second electrodes) separated by an elastic layer. This segmentation allows independent detection of pressure distribution and shearing force distribution, achieving high measurement precision while managing complexity through modular structure
Solution Approach 2:
The patent transitions from single-layer electrode structure to multi-layer electrode structure in the vertical dimension. By stacking electrode layers and using partial overlap configurations, the system extracts multiple tactile parameters (pressure, shearing force) from different spatial dimensions, improving measurement precision without proportionally increasing overall device footprint
2Measurement precision
If multiple first electrodes and second electrodes are arranged to partially overlap, then pressure distribution and shearing force distribution detection capability is improved, but manufacturing precision requirements increase
Solution Approach 1:
The patent combines multiple electrode layers with partial overlap into a single integrated sensor structure. The first electrodes and second electrodes are merged through the elastic layer to form a unified detection system that simultaneously measures pressure and shearing force, reducing the need for separate sensor assemblies and simplifying manufacturing
Solution Approach 2:
The patent utilizes changes in electrostatic capacitance parameters caused by elastic layer deformation to detect tactile forces. By monitoring capacitance variations between overlapping electrodes rather than requiring precise mechanical alignment, the system achieves high detection accuracy while reducing manufacturing precision requirements
3Loss of information
If the sensor outputs multiple signals corresponding to multiple first electrodes, then information completeness is improved, but loss of time increases due to processing large amounts of data
Solution Approach 1:
The patent extracts only the essential tactile information (pressure distribution and shearing force distribution) from the multiple electrode signals. By calculating aggregate values and key distribution patterns rather than processing every individual electrode signal separately, the system maintains information completeness while significantly reducing data processing time
Solution Approach 2:
The sensor structure is pre-configured with specifically arranged electrode patterns and overlap configurations that directly correspond to the desired measurement parameters. This preliminary design allows the raw capacitor signals to already encode the necessary tactile information in a processed form, reducing the computational burden during operation
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 system efficiently provides tactile information to the robot's controller, enhancing the control of grasping operations by accurately detecting and processing pressure and shearing forces applied to the workpiece.
Implementation Method 1
each tactile sensor has an electrostatic capacitance-type sensor portion having a contacting surface configured to contact the workpiece
Data Source
AI summary
In a tactile sensing system, a sensor portion of a tactile sensor is provided at a grasping portion of a robot, and outputs plural signals respectively corresponding to plural first electrodes that face a second electrode. On the basis of all or some of the plural signals, an output section calculates respective pressure values of plural pressure detecting positions within a contacting surface of the sensor portion which contacting surface contacts a workpiece, and outputs data of a pressure distribution. Further, on the basis of all or some of the plural signals, the output section calculates one aggregate shearing force value for the entire contacting surface, and outputs data of the aggregate shearing force value.