Optical Sensor for Flexible Robotic Limb Positioning
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Solution Overview
Problem
Traditional robotics face challenges in accurately positioning flexible robotic limbs subject to forces and torques due to limitations in sensor precision and material weight, leading to reduced energy efficiency and precision in 3D positioning.
Innovation Solution
A sensor system utilizing spatially separated light permeable tubes with light emitting and detecting devices to measure bend and orientation, providing highly accurate positioning and orientation of flexible elements by analyzing light intensity and characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If metal materials are used to manufacture robot limbs to make them bend resistant, then the position precision of the end effector is improved, but the weight of the robot increases excessively
Solution Approach 1:
The patent replaces traditional mechanical strain sensors with an optical measurement system using light-permeable tubes and photodetectors. This substitution allows for precise measurement of limb deformation without requiring heavy metal construction, thereby maintaining position precision while reducing robot limb weight.
Solution Approach 2:
The patent changes the measurement parameter from direct mechanical strain measurement to optical intensity measurement. By measuring light intensity changes as the tube bends, the system achieves precise deformation detection without the need for heavy mechanical sensor components, resolving the contradiction between precision and weight.
2Weight of moving object
If light weighted materials such as carbon fiber are used to reduce robot weight, then energy consumption is reduced, but the limbs become prone to bending which decreases positioning precision
Solution Approach 1:
The patent replaces mechanical strain sensors with an optical measurement system using light-permeable tubes and photodetectors. This substitution allows for precise measurement of limb deformation without requiring heavy metal construction, thereby maintaining position precision while reducing robot limb weight.
Solution Approach 2:
The patent uses flexible light-permeable tubes embedded in the robot limbs that can bend with the limb structure. These tubes maintain optical integrity during bending, enabling precise deformation measurement in lightweight flexible limbs without compromising positioning precision.
3Measurement precision
If optical fibers are used to determine robot position by measuring reflected light intensity, then positioning capability is improved, but the measurement becomes dependent on background environment which reduces versatility
Solution Approach 1:
The patent introduces light-permeable tubes as intermediaries between the light source and photodetectors. These tubes guide light directly along the robot limb, making the measurement independent of background environment. The tubes act as optical waveguides that isolate the measurement from external environmental factors, thereby maintaining versatility across different environments.
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 efficient and accurate determination of the position and orientation of flexible elements under applied forces and torques, improving precision and reducing material weight, thus enhancing the capabilities of flexible robotic limbs.
Implementation Method 1
a light emitting device (2) emitting light through the light permeable tube (1); a light detecting device (3)...configured to detect light emitted from the light emitting device (2) through the light permeable tube (1)
Data Source
Figure 1
Figure 2a~2b
Figure 3a~3b
AI summary
It is provided a sensor that enables a positioning of a flexible element subject to applied forces. The sensor comprises at least two spatially separated light permeable tubes 1, 10 each tube having a first end 1a, 10a arranged on a first frame portion 11a and a second end 1b, 10b arranged on a second frame portion 11b of the flexible element, wherein at least one of said first end 1 a, 10a or said second end 1b, 10b of at least one light permeable tube 1, 10 are attached to a corresponding first frame portion 11a, 11b by means of a joining means 120. Each of the at least two spatially separated light permeable tubes comprises at least one light detecting device 3, connectable to a processing unit 4, and arranged at a light detecting position of a corresponding light permeable tube 1, 10 and configured to detect light emitted from at least one light emitting device 2 through the corresponding light permeable tube 1, 10 and configured to transfer information comprising information relating to the detected light to the processing unit 4 to enable the processing unit to determine the bend of the light permeable tubes 1, 10.