Robot Surface Contact Sensing for Command and Safety Control
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Solution Overview
Problem
Current robotic systems, particularly collaborative robots, face limitations in extending the field of interactivity and registering possible commands from contact with control objects without using additional sensors, while ensuring safety and optimal operation.
Innovation Solution
A method that detects contact and the extent of contact between control objects and a robot's surface, using existing capacitive sensors to generate varied commands, incorporating torque measurements for validation and force calculation, allowing for increased interactivity and command registration without additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensors are used to detect contact extent and force, then measurement precision and interactivity are improved, but device complexity and cost increase
Solution Approach 1:
The patent makes existing capacitive sensors perform multiple functions: detecting contact presence, measuring contact extent (area), and estimating contact force. By analyzing capacitance variations and their temporal derivatives, the system extracts multiple parameters from a single sensor type, eliminating the need for additional force sensors or pressure sensors.
Solution Approach 2:
The system uses the robot's existing capacitive sensor infrastructure to serve the additional function of contact extent and force measurement. The capacitive sensors, originally designed for simple contact detection, are repurposed to provide comprehensive contact characterization through signal processing of capacitance values and their rates of change.
2Adaptability or versatility
If contact extent information is processed to generate varied commands, then adaptability and interactivity are improved, but control system complexity increases
Solution Approach 1:
The control system dynamically adapts robot behavior based on contact extent measurements. Different contact areas trigger different command responses: small contacts may initiate gentle interaction modes, while large contacts trigger emergency stops or significant motion adjustments. The system continuously monitors capacitance changes and adjusts control parameters in real-time based on the evolving contact state.
Solution Approach 2:
The patent changes control parameters based on contact extent measurements. By analyzing the magnitude of capacitance variations, the system adjusts operational parameters such as robot speed, acceleration, and interaction force thresholds. This allows a single control system to handle multiple interaction scenarios without requiring separate control logic for each case.
3Ease of manufacture
If capacitive sensors are used for contact detection, then ease of manufacture is improved, but measurement precision for force and extent is limited
Solution Approach 1:
The patent replaces mechanical force sensors with capacitive sensing. Instead of using complex force measurement devices, the system uses electrical capacitance measurements to infer mechanical contact properties. The capacitance changes caused by contact are processed to estimate force magnitude, providing a simpler, more manufacturable solution while maintaining adequate measurement precision for collaborative robot applications.
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
Enhances the field of interactivity and command registration by utilizing existing sensors to determine contact extent and force, improving safety and operational efficiency in robotic systems.
Implementation Method 1
at least one position sensor comprises at least one capacitive measuring electrode arranged to provide a measurement signal relative to a coupling capacitance between the measuring electrode and the object
Data Source
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AI summary
The invention relates to a method (100) for controlling a robot, comprising the following steps: - detecting (102) at least one contact between an object and the robot by means of at least one sensor, referred to as the position sensor, fitted to said robot; - determining (104), for said at least one contact, a contact range according to a measurement of the at least one position sensor; and - executing (106) a robot control command taking into account information relating to said contact range. The invention also relates to a device and a robot implementing the method.