Robot Casing Elements With Haptic Proximity Detection
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Solution Overview
Problem
Existing human-robot collaboration systems face challenges in ensuring safety and efficiency due to limitations in proximity sensing, difficulty in distinguishing humans from other objects, and inadequate handling of bumping and clamping hazards, leading to potential harm and reduced productivity.
Innovation Solution
The system incorporates movable parts with actuators, force limiting sensors, and casing elements equipped with vibration sensors and joint position detectors to monitor speed and force limits, generate haptic effects, and provide guiding functions, enhancing safety and user interaction through proximity detection and haptic feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If proximity sensors are used to detect humans, then safety is improved, but error-triggering and difficulty in distinguishing humans from other objects occurs
Solution Approach 1:
The robot system dynamically adjusts its motion based on real-time detection of human proximity and gestures. The robot can modify its speed, pause, or change trajectory in response to detected human presence, creating a dynamic interaction that enhances safety while maintaining operational flexibility in collaborative environments.
Solution Approach 2:
The casing element acts as an intermediary detection surface that users can interact with through gestures. Instead of relying solely on traditional proximity sensors that struggle to distinguish humans from objects, the system uses gesture recognition at the casing surface as a mediator to reliably detect human presence and intent, solving the discrimination problem.
2Productivity
If the robot moves faster to improve productivity, then efficiency is improved, but the risk of personal injury increases
Solution Approach 1:
The robot system implements continuous feedback loops where joint position detectors and force sensors monitor real-time motion and contact forces. When the robot detects approaching speed or force limits, or when human proximity is detected, the system automatically adjusts its motion parameters to maintain safety while optimizing productivity within safe operating boundaries.
Solution Approach 2:
The robot dynamically changes its motion parameters (speed, acceleration, force limits) based on real-time conditions. By adjusting these parameters according to detected human presence and operational context, the system maintains high productivity when safe and reduces speed or pauses when human safety is concerned, resolving the contradiction between efficiency and safety.
3Reliability
If force limiting sensors are added to detect contact, then safety is improved, but device complexity increases
Solution Approach 1:
The casing element serves multiple functions: it acts as both the protective housing and the gesture detection surface. By integrating gesture sensors and force sensors into the casing structure itself rather than adding separate detection modules, the system maintains safety functionality while minimizing additional complexity through multi-functional design.
Solution Approach 2:
The patent combines multiple detection functions (proximity detection, gesture recognition, force sensing) into integrated sensor systems mounted on the casing elements. By merging these detection capabilities into unified sensor assemblies rather than separate components, the system achieves comprehensive safety monitoring without proportionally increasing 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
The solution effectively reduces hazards by preventing collisions and clamping incidents, improves user interaction, and enhances the efficiency of human-robot collaboration by providing intuitive guidance and haptic assistance.
Implementation Method 1
a sensor configured to detect a vibration generated by a vibration sensor for performing a proximity detection or a contact detection to an external object
Implementation Method 2
The casing element can be configured to generate a haptic effect to warn a user in HRC
Data Source
AI summary
A robot system comprising movable parts, a casing element, a force limiting sensor, a joint position sensor, and one or more processors, wherein the casing element comprises a vibration actuator. Multiple embodiments are introduced for the implementation of the casing element include haptic warning and proximity sensing. Furthermore, means to use the casing element to guide the robot and generate haptic effect by the vibration actuator to assist the user in a human-robot collaboration and/or guiding function are also disclosed.