Robot Hand Sensor With Viscoelastic Deformation Layer
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Solution Overview
Problem
Existing robot systems struggle to accurately detect multiaxial forces on a holding surface, leading to difficulties in performing precise holding operations for thin or lightweight workpieces, and there is a risk of damage to the robot hand due to undetected excessive stress.
Innovation Solution
A robot apparatus with a hand portion featuring finger portions, a sensor portion comprising a pressure sensor and a deformation layer made of viscoelastic material, and a holding member with a claw portion that protrudes from the finger tip, allowing for the detection of pressure acting on the claw portion without a sensor on the fingertip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a plurality of elements each having a single detection axis is combined to detect a multiaxial force, then the detection capability is improved, but the structure is enlarged
Solution Approach 1:
The patent merges multiple detection functions into a single sensor element. The pressure-sensitive sensor detects forces in multiple directions (axial and lateral) simultaneously through its pressure distribution detection capability, eliminating the need for multiple separate sensors and reducing structural complexity while maintaining comprehensive detection capability.
Solution Approach 2:
The pressure-sensitive sensor is designed to perform multiple detection functions: it can detect axial forces, lateral forces, and pressure distribution patterns all through a single sensor element. This multi-functional design replaces what would traditionally require multiple specialized sensors, thereby simplifying the overall structure.
2Measurement precision
If the elements are arranged so as to perform detection in a surface distribution, then the detection coverage is improved, but those elements occupy a large space
Solution Approach 1:
The patent combines multiple detection elements into a single integrated pressure-sensitive sensor that can detect forces across a surface distribution. This unified sensor approach provides comprehensive detection coverage without requiring the physical arrangement of multiple separate elements, thereby reducing the occupied space.
3Device complexity
If there are no nodes on a sensor end surface, then the sensor structure is simplified, but a force acting on a fingertip cannot be detected
Solution Approach 1:
The patent introduces a deformation layer as an intermediary between the holding member and the pressure-sensitive sensor. This deformation layer transmits forces applied to the fingertip to the sensor, enabling force detection at the tip without requiring sensor nodes to be physically positioned on the end surface. The deformation layer acts as a mediator that bridges the gap between the tip and the sensor.
Solution Approach 2:
The patent shifts the detection approach from a surface-based node arrangement to a volumetric detection approach. By using the deformation layer to transmit forces from the tip through the sensor body, the system detects forces in the third dimension (depth/thickness) rather than relying on surface nodes, thereby maintaining structural simplicity while enabling tip force detection.
4Device complexity
If there are no nodes on a sensor end surface, then the sensor structure is simplified, but contact between the fingertip and the working table cannot be detected
Solution Approach 1:
The deformation layer serves as an intermediary that transmits contact forces from the fingertip to the pressure-sensitive sensor. When the fingertip contacts the working table, the resulting force is transmitted through the deformation layer to the sensor, enabling reliable contact detection even without sensor nodes on the end surface.
Solution Approach 2:
The deformation layer is pre-installed between the holding member and the sensor to establish a force transmission path before operation. This preliminary arrangement ensures that any contact force applied to the fingertip will be automatically transmitted to the sensor for detection, maintaining reliability without complex sensor node configurations.
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
Enables accurate detection of stress applied to the fingertip, improving the robot's ability to perform precise holding operations, especially for thin or lightweight workpieces, while preventing potential damage from excessive stress.
Implementation Method 1
The deformation layer is disposed on the first pressure sensor and is made of a viscoelastic material
Data Source
AI summary
A robot apparatus according to one embodiment of the present technology includes a hand portion, a sensor portion, and a holding member. The hand portion includes a plurality of finger portions disposed to face each other in a direction of a first axis. The sensor portion includes a first pressure sensor and a deformation layer. The first pressure sensor is disposed on at least one of the plurality of finger portions and is capable of detecting a pressure distribution. The deformation layer is disposed on the first pressure sensor and is made of a viscoelastic material. The holding member is supported by the deformation layer and includes a claw portion that protrudes from a tip of the at least one of the finger portions in a direction of a second axis intersecting with the first axis and is capable of holding a workpiece.