Robot Contact Response System for Expected and Unexpected Human Interaction

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Solution Overview

Problem

Humanoid robots face challenges in distinguishing between expected and unexpected physical contacts with humans, which can lead to unsafe interactions, as existing systems lack effective methods to differentiate between planned and unplanned contacts during motion.

Innovation Solution

The implementation of a contact response system in a humanoid robot, comprising sensors communicatively coupled to a controller, which detects contacts using capacitive touch, proximity, or visual sensors to determine if a contact is expected or unexpected, allowing the robot to interrupt or continue its motion accordingly, thereby ensuring safety.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the robot uses sensors to detect contacts with humans, then the robot can detect unexpected contacts and interrupt motion for safety, but the robot may also interrupt expected contacts (such as planned handshakes or high-fives) unnecessarily

Engineering Contradiction:

Improvesafety of human-robot interactionVSAvoidability to distinguish expected vs unexpected contacts

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The system performs preliminary actions by tracking the trajectory of the human and predicting where the robot will make contact. Before the actual contact occurs, the system determines whether the contact is expected based on the trajectory analysis and planned motion, allowing the robot to prepare appropriate responses in advance

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses feedback from multiple sensors (depth sensor, inertial measurement unit, capacitive touch sensor) to continuously monitor contact conditions. The controller processes this feedback real-time to determine whether a contact is expected or unexpected, adjusting the robot's motion accordingly

Inventive Principle:

Principle #23Feedback

2Reliability

If the robot interrupts motion upon detecting any contact, then safety is maximized, but the robot loses the ability to perform planned interactions smoothly

Engineering Contradiction:

Improvesafety response activationVSAvoidefficiency of planned interactions

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The system applies different quality levels of contact detection to different situations. Instead of a uniform response to all contacts, the system uses local quality by analyzing the specific characteristics of each contact (trajectory, sensor data, context) to determine the appropriate response - either interrupting for safety or allowing the planned interaction to continue

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The contact response system dynamically adjusts its behavior based on real-time analysis of contact conditions. The controller changes the robot's response from interruption to continuation based on the dynamic characteristics of the contact event, such as the trajectory analysis and sensor feedback, allowing flexible adaptation to different interaction scenarios

Inventive Principle:

Principle #15Dynamics

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

This solution enables the robot to safely navigate its environment by differentiating between expected and unexpected contacts, allowing it to interrupt motion in case of unexpected interactions, thus preventing accidents and ensuring smooth planned interactions with humans.

Implementation Method 1

the second sensor is a capacitive touch sensor, and the detecting, by the second sensor, a second contact between the robot and a second human includes determining a capacitance exceeds a predetermined capacitance threshold

Methodology Applied

Scientific EffectCapacitance: Capacitance

Implementation Method 2

the second sensor is a proximity sensor and detecting, by the second sensor, a second contact between the robot and the second human includes determining a distance between the robot and the second human is less than a predetermined proximity threshold

Methodology Applied

Scientific EffectProximity detection:

Data Source

PatentUS20240351211A1Systems, devices, and methods for contact detection by a robot system

Publication Date: 2024.10.24 SANCTUARY COGNITIVE SYST CORP

AI summary

A robot has a controller and a sensor. The sensor is communicatively coupled to the controller. The controller includes a contact response system. A safety response of the contact response system is activated for the sensor. A method of operation of the robot includes detecting, by the sensor, a contact between the robot and a human, the contact resulting from a motion of the robot, and determining, by the controller, whether the contact between the robot and the human is an expected or unexpected contact. In response to determining the contact between the robot and the human is an expected contact, the safety response is deactivated for the sensor to allow the robot to proceed with its motion uninterrupted. In response to determining the contact between the robot and the human is an unexpected contact, the contact response system causes the robot to interrupt the motion of the robot.