Robot Casing Haptics and Sensing for Collision-Aware Collaboration
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Solution Overview
Problem
Existing robotic systems face challenges in human-robot collaboration (HRC) due to inefficiencies and safety concerns, including error-triggering and difficulty in distinguishing humans from other objects, leading to potential hazards such as bumping and clamping, and limitations in proximity sensing and speed and separation monitoring.
Innovation Solution
The system incorporates casing elements equipped with force limiting sensors, joint position detection, and vibration actuators to monitor and control movable parts, generate haptic effects, and provide guiding functions, enhancing safety and efficiency in HRC by preventing collisions and improving user interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If proximity or touch sensors are used to detect humans nearby, then safety is improved, but error-triggering occurs and efficiency deteriorates
Solution Approach 1:
The robot system divides the detection function into multiple specialized sensors: joint position detection elements for precise robot joint monitoring, vibration sensors for contact detection, and proximity sensors for human detection. This segmentation allows each sensor to be optimized for its specific function, reducing false triggers while maintaining safety and efficiency.
2Reliability
If speed and separation monitoring is implemented, then safety is improved, but the system cannot distinguish humans from other objects, leading to bumping and clamping hazards
Solution Approach 1:
The system implements multi-layer feedback mechanisms: joint position detection elements provide continuous feedback on robot joint positions, vibration sensors provide feedback on contact forces, and proximity sensors provide feedback on human-robot distance. This comprehensive feedback allows the control system to distinguish between humans and objects and adjust robot behavior accordingly, preventing bumping and clamping hazards.
3Measurement precision
If multiple sensors are added to improve detection accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The robot system integrates multiple sensors with multi-functionality: the joint position detection elements serve both for precise robot joint monitoring and for calculating robot end-effector position; vibration sensors serve both for contact detection and for detecting human presence; proximity sensors serve both for human detection and for obstacle avoidance. This universality reduces the need for separate dedicated sensors, managing complexity while maintaining high detection accuracy.
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.