Robot Touch Sensor Sensitivity Switching for Wide Load Resolution
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Solution Overview
Problem
Conventional touch sensation sensors in robots face challenges in maintaining high sensitivity and dynamic range, particularly when handling both low and high loads, as the resolution of the AD converter becomes rough when measuring a wide dynamic range, making it difficult to exert fine force control in low load ranges.
Innovation Solution
A touch sensation sensor system that dynamically adjusts its sensitivity mode based on visual and touch sensation information, using a control device to change the gain or threshold of the amplification part and an analog-digital converter to switch between high sensitivity and wide sensitivity modes, allowing for precise force resolution across varying load ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the gain of the amplification circuit is increased to improve resolution in low load range, then measurement precision improves, but the dynamic range becomes limited and high load measurement capability deteriorates
Solution Approach 1:
The patent implements dynamic switching between multiple sensitivity modes (first sensitivity mode with higher gain for low load, second sensitivity mode with lower gain for high load). The system automatically transitions between modes based on detected load conditions, allowing the amplification circuit to adapt its characteristics in real-time rather than being fixed, thus resolving the contradiction between resolution and dynamic range
Solution Approach 2:
The patent changes the gain parameter of the amplification circuit based on the sensitivity mode. In the first sensitivity mode, a first gain value is applied for high resolution measurement of low loads, while in the second sensitivity mode, a second gain value is applied to accommodate high load measurements. This parameter switching enables the system to optimize measurement precision for different load conditions
2Adaptability or versatility
If a single sensitivity mode is used to cover wide dynamic range, then adaptability improves, but measurement precision deteriorates in low load range
Solution Approach 1:
The patent segments the measurement range into two distinct sensitivity modes. The first sensitivity mode handles low load conditions with higher resolution, while the second sensitivity mode handles high load conditions. This segmentation allows each mode to be optimized for its specific range, preventing the compromise that would result from using a single mode for the entire dynamic range
3Measurement precision
If the ADC resolution is fixed to provide fine force control, then measurement precision improves, but the device complexity increases to handle mode switching
Solution Approach 1:
The patent employs feedback mechanisms where the detected touch sensation information is used to determine the appropriate sensitivity mode. The system continuously monitors the input signal characteristics and automatically adjusts the sensitivity mode accordingly, creating a closed-loop control system that manages the complexity of mode switching through intelligent decision-making rather than complex hardware
Data Source
AI summary
A touch sensation sensor is mounted to a hand part of a robot and includes: an obtaining means, obtaining at least one of visual sensation information, which is target object information relating to a target object operated by using the hand part, and touch sensation information, which is the target object information at a time when the target object operated by using the hand part is gripped; and a control device, changing a sensitivity mode of the touch sensation sensor in accordance with the target object information that is obtained.