Pressure-Sensing Finger Interface for Accurate Robot Teleoperation
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Solution Overview
Problem
Conventional motion detecting devices for remotely operating multi-articulated robots, such as robot hands, suffer from low detection accuracy and durability issues, and are cumbersome for the operator to wear due to the use of fragile sensors.
Innovation Solution
A motion detecting device with a device main body that follows the shape of the finger, featuring contact parts and detection parts that accurately detect finger motion based on pressing state, and a force sense generating part to provide haptic feedback, allowing for easier operation and improved durability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a bending-type sensor is used to detect finger motion, then detection capability is provided, but the sensor is fragile and has low detection accuracy
Solution Approach 1:
The patent replaces fragile mechanical bending sensors with a pressure-sensitive sheet that detects finger pressing actions. This substitution eliminates the fragility of traditional bending sensors while maintaining detection capability through pressure-sensitive materials that are inherently more durable and provide higher detection accuracy for finger motions.
Solution Approach 2:
The invention changes the detection parameter from bending angle measurement (prone to error and sensor damage) to pressure force measurement. By using pressure-sensitive sheets that respond to the force of finger pressing, the system achieves more reliable and accurate detection while avoiding the fragility issues of mechanical bending sensors.
2Ease of operation
If sensors and optical fibers are installed inside a glove, then finger motion detection is enabled, but it becomes difficult to put on the glove without damaging the components
Solution Approach 1:
Instead of embedding sensors inside a glove that requires careful donning, the patent inverts the approach by placing the pressure-sensitive detection sheet on the exterior surface of a hand-operating device. The operator places their hand on the device, and finger pressing actions are detected at the contact surface, eliminating the need to wear a protective glove with embedded components.
Solution Approach 2:
The invention extracts the detection function from the glove structure itself and relocates it to a separate hand-operating device. By removing the sensors from the glove and placing them on an external device surface, the system eliminates the complexity of integrating fragile components into wearable gloves while maintaining full detection functionality.
3Adaptability or versatility
If a glove with embedded sensors is used, then remote control capability is achieved, but the glove structure becomes complex and difficult to wear
Solution Approach 1:
The patent extracts the remote control detection function from the glove and relocates it to a separate hand-operating device. This separation simplifies the glove structure while maintaining remote control capability through the external device that detects finger pressing actions on its surface.
Solution Approach 2:
The hand-operating device with pressure-sensitive sheet serves multiple functions: it provides the detection surface for finger motions, eliminates the need for complex glove structures, and can be used with any hand configuration. This universal design approach simplifies the overall system while maintaining full remote control versatility.
Data Source
AI summary
The motion detecting device that detects motion of an operator's finger for remotely operating a multi-articulated robot includes a device main body that is installed such that the finger is placed thereon, a contact part that follows a shape of the finger in the device main body and is in contact with the finger, and a detection part that detects the motion of the finger on the basis of a pressing state of the finger against the contact part.