Multi-Axial Tactile Sensor Radial Beam Arrangement
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Solution Overview
Problem
Conventional multi-axial tactile sensors are unable to effectively detect force in the Z-axis direction and moment about an axis in addition to force in the X-axis and Y-axis directions with high sensitivity, due to interference from other axial directions and lack of specific configurations for sensor layout on the substrate.
Innovation Solution
A multi-axial tactile sensor design featuring a substrate with radially arranged sensor elements, including shearing force detecting elements and pressing force detecting elements with resistive layers, positioned at rotational symmetry to minimize interference and enhance detection sensitivity, allowing for the detection of forces in three axes and moments about at least one axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional tactile sensor configurations are used to detect force in X and Y directions, then basic two-axis force detection is achieved, but detection of force in Z direction and moment about axis is not possible without additional complex sensor arrangements
Solution Approach 1:
The patent makes a single sensor element perform multiple functions by detecting both force components (Fx, Fy) and moment components (Mx, My, Mz) through radial arrangement of beam structures. The same sensor element that detects shear force in X and Y directions also detects moment about the Z-axis, eliminating the need for separate sensor arrangements for each measurement type.
Solution Approach 2:
The patent transitions from planar sensor arrangement to three-dimensional radial arrangement of beam structures. By orienting beams in radial directions from the center, the sensor can detect forces and moments in multiple directions simultaneously, adding dimensional capability to the detection system.
2Measurement precision
If multiple sensor elements are added to detect force in Z direction and moment, then detection sensitivity for all six axes is improved, but sensor size and device complexity increase
Solution Approach 1:
The patent divides a single sensor element into multiple beam structures arranged radially (first beam in X direction, second beam in Y direction, third beam in Z direction). Each beam segment detects specific force components, and by combining outputs from these segmented beams, the system achieves six-axis detection capability without requiring six separate sensor elements.
Solution Approach 2:
The patent merges multiple detection functions into a single integrated sensor element. The radial arrangement allows the same sensor structure to simultaneously detectFx, Fy, Fz, Mx, My, and Mz by strategic placement and orientation of beam structures, reducing overall device size while maintaining detection sensitivity.
3Adaptability or versatility
If sensor elements are arranged radially to detect moment about axis, then moment detection capability is achieved, but interference from other axial directions increases
Solution Approach 1:
The patent uses asymmetric radial arrangement of beam structures with specific orientations (X, Y, Z directions) to differentiate between force components and moment components. The asymmetric positioning allows the system to distinguish moment about the Z-axis from forces in X and Y directions by analyzing the specific deformation patterns of radially oriented beams.
Solution Approach 2:
The patent applies different beam orientations at different radial positions to detect specific components. Beams oriented in specific radial directions are more sensitive to particular force and moment components, allowing local optimization of detection sensitivity for each axis while minimizing cross-axis interference through strategic orientation.
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 high detection sensitivity and precision in detecting forces in three axes and moments about at least one axis, reducing interference from other axial directions and maintaining sensitivity over time.
Implementation Method 1
beam structures provided with resistive layers at specific portions to detect force in a direction parallel to the surface of the substrate
Data Source
AI summary
A multi-axial tactile sensor for detecting forces in directions of three axes and a moment about at least one axis includes at least four sensor elements including at least three shearing force detecting elements having beam structures provided with a first resistive layer and a second resistive layer at specific portions, and at least one pressing force detecting element having a beam structure provided with a third resistive layer and a fourth resistive layer at specific portions, the beam structures of the four sensor elements being arranged on a sensor substrate so that their respective longitudinal directions are radially arranged, and the moment about at least one axis is detected based on outputs of two or more sensor elements being arranged at positions of rotational symmetry around the center of the radial arrangement of the plurality of sensor elements.