Robot Touch Sensor Array Using Frequency-Domain Readout
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Solution Overview
Problem
Existing touch sensors in robotics often suffer from low-resolution touch data with high latency due to serial sampling methods, which limits the precision and speed of tactile feedback in dynamic mechanical systems.
Innovation Solution
A system utilizing spatially distributed touch sensors sharing a signal medium, where each sensor outputs unique frequencies, and an analog-to-digital converter processes these signals using a fast Fourier transform to convert them into the frequency domain, allowing concurrent reading and precise identification of touch locations without the need for microcontrollers at every sensing point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If serial sampling methods are used to read touch sensor arrays, then device complexity is reduced, but measurement precision and productivity deteriorate due to low resolution and high latency
Solution Approach 1:
The patent segments the touch sensor array into multiple zones or regions, allowing parallel reading of different sensor groups simultaneously. This segmentation enables the system to maintain low device complexity while achieving high measurement precision by processing multiple sensor readings concurrently rather than sequentially
Solution Approach 2:
The patent introduces a spatial dimension to the reading process by organizing sensors in a two-dimensional array and implementing row-column matrix multiplication techniques. This dimensional approach allows simultaneous activation and reading of multiple sensors across different spatial locations, dramatically improving touch data resolution without proportionally increasing device complexity
2Device complexity
If serial sampling methods are used to read touch sensor arrays, then device complexity is reduced, but productivity deteriorates due to high latency
Solution Approach 1:
The patent implements continuous parallel activation and reading of multiple touch sensors simultaneously across the sensor array. By maintaining continuous useful action across all sensor regions rather than sequential sampling, the system achieves high productivity and low latency while keeping device complexity manageable through efficient signal processing
Solution Approach 2:
By organizing sensors in a two-dimensional array and utilizing row-column matrix operations, the patent enables simultaneous activation of entire rows and columns of sensors. This dimensional approach allows the system to read multiple sensor values in parallel, dramatically increasing reading speed and productivity without proportionally increasing device complexity
3Measurement precision
If multiple microcontrollers are deployed at each sensing point, then measurement precision improves, but device complexity and manufacturing cost increase
Solution Approach 1:
The patent merges the processing functions of multiple microcontrollers into a single centralized processor or controller. By combining the computational resources needed to handle touch sensor data from the entire array into one processing unit, the system achieves high measurement precision through sophisticated algorithms while dramatically reducing device complexity and eliminating the need for multiple distributed microcontrollers
Solution Approach 2:
The patent implements a universal processing architecture where a single microcontroller or processor performs multiple functions: activating sensor rows, reading sensor columns, processing touch data, and controlling the display. This multi-functional approach eliminates the need for dedicated microcontrollers at each sensing point while maintaining high measurement precision through efficient resource utilization
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 approach reduces latency and increases the density of sensing locations, providing high-resolution tactile feedback with improved precision and cost-effectiveness by processing signals in software and using a single analog-to-digital converter.
Implementation Method 1
an analog to digital converter electrically coupled to the signal medium and configured to receive the sets of frequencies from the touch sensors and convert the sets of frequencies to digital representations of the sets of frequencies in the time domain
Implementation Method 2
a processor communicatively coupled to the analog to digital converter and configured to execute a fast Fourier transform of the digital representations from the time domain into digital representations in the frequency domain
Data Source
AI summary
A system includes a robot having contact surfaces and a sensor array having a spatially distributed touch sensors disposed on the contact surfaces. Each touch sensor has an identifier and outputs an analog signal at a set of frequencies associated with the identifier The sensor array outputs a combined analog signal representative of a combination of the analog signals outputted by the touch sensors. The system includes an analog-to-digital converter that generates a digital signal in a time domain based on the combined analog signal. The system includes one or more processing units that transforms the digital signal from the time domain to a frequency domain and detects locations of touch within the sensor array based on frequencies observed the frequency domain and the identifiers of the touch sensors.