Robot Joint Torque Detection for Passive Contact Events
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Solution Overview
Problem
Existing technologies do not sufficiently utilize unexpected motions of robots, such as those generated by physical interactions, for entertainment purposes.
Innovation Solution
An information processing device and method that includes a measured torque value acquisition section and a contact event detection section to detect and utilize unexpected motions of robots by analyzing torque changes at robot joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque sensors are installed at robot joints to detect contact events, then contact detection capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces mechanical torque sensors with an electrical measurement system. The motor's existing current detection capability is utilized to infer torque values through the relationship between motor current and output torque. This substitution eliminates the need for separate mechanical torque sensors, reducing device complexity while maintaining contact detection capability.
Solution Approach 2:
The patent makes the motor's current detection system serve dual purposes: both controlling motor operation and detecting contact events. By monitoring the motor's own current consumption patterns, the system extracts torque information without requiring external sensing devices. This self-service approach reduces overall system complexity.
2Measurement precision
If multiple sensors are added to detect unexpected motions, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the motor's current detection system multi-functional, serving both motor control and contact event detection purposes. The same detection infrastructure is used to monitor both intentional robot motions and unexpected contact events, eliminating the need for separate sensing systems while improving measurement precision for contact detection.
3Measurement precision
If torque threshold ranges are set narrowly to improve contact detection precision, then false detections increase, but if set broadly then detection precision decreases
Solution Approach 1:
The patent implements dynamic threshold adjustment based on robot state. The torque threshold range is not fixed but adapts according to the robot's current operational state, motion type, and environmental conditions. This dynamic approach allows narrow thresholds during stable operations for high precision while automatically broadening during transitional states to reduce false detections.
Solution Approach 2:
The system incorporates feedback mechanisms where detection results inform future threshold settings. When false detections occur, the system learns from these events and adjusts threshold ranges accordingly. This feedback loop continuously optimizes the balance between detection precision and false detection rate based on actual operational experience.
Data Source
AI summary
Provided is an information processing device including a measured torque value acquisition section and a contact event detection section. The measured torque value acquisition section acquires a first measured torque value measured by a motor that drives a joint of a housing. In a case where a threshold range is exceeded by the first measured torque value or by a value based on the first measured torque value, the contact event detection section detects a contact event that has occurred on a part of the housing that is coupled by the joint.