Robotic Effector Sensing Skin for Force and Location Detection
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Solution Overview
Problem
Modern robots, including biomimetic ones, lack effective sensorial capabilities such as tactile and pressure sensing, limiting their ability to perform precise and sensitive tasks due to the complexity and cost of adding sensory structures, which can compromise their robustness and reliability.
Innovation Solution
The development of a sensing system using a conductive core and a polymeric or polymeric-textile substrate with integrated measurement electrodes, allowing for simultaneous detection of location and force with minimal structural complexity, featuring a flexible and robust design that can be integrated into robotic end effectors or worn as garments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensory structures (piezoresistive, piezoelectric, capacitive, elastoresistive) are added to increase dynamic range and sensing capability, then measurement precision and sensing capability are improved, but device complexity increases and robustness deteriorates
Solution Approach 1:
The patent combines multiple sensing functions (location and force detection) into a single integrated sensor assembly. The assembly uses a unified structure with a first layer containing conductive elements and a second layer with measurement electrodes, eliminating the need for separate piezoresistive, piezoelectric, capacitive, and elastoresistive structures. This merging reduces device complexity while maintaining comprehensive sensing capability.
Solution Approach 2:
The sensor assembly is designed to perform multiple sensing functions simultaneously using a single structure. The first layer with conductive elements and the second layer with measurement electrodes work together to detect both location and force, making the sensor universal rather than requiring specialized separate sensors for each function. This multi-functionality reduces the overall number of components needed.
2Measurement precision
If more sensory structures are added to achieve higher dynamic range, then measurement precision is improved, but reliability deteriorates due to increased hardware failure risk
Solution Approach 1:
By merging location and force sensing into a single integrated assembly, the patent reduces the total number of discrete sensory structures. Fewer components mean fewer potential failure points, thereby improving reliability while maintaining the dynamic range needed for precise measurement across various force and location conditions.
Solution Approach 2:
The sensor uses flexible layer structures (first layer with conductive elements, second layer with measurement electrodes) that can deform elastically in response to applied forces. This flexibility allows the sensor to maintain structural integrity under varying loads, preventing hardware failure and improving robustness while still achieving high dynamic range for force measurement.
3Measurement precision
If discrete sensory structures are added to improve sensing capability, then measurement precision is improved, but ease of repair deteriorates due to large number of electrical connections
Solution Approach 1:
The integrated sensor assembly combines location and force sensing functions into a single unit with a reduced number of electrical connections. The first layer and second layer are electrically coupled through a simplified connection scheme, reducing the number of discrete connections that would need to be repaired. This merging makes the sensor easier to maintain and repair compared to multiple separate sensory structures.
4Measurement precision
If physical alterations are made to add sensory structures, then measurement precision is improved, but the robotic end effector becomes incapable of performing tasks requiring dynamic range
Solution Approach 1:
The sensor assembly uses flexible layer structures that can deform elastically in response to applied forces, allowing the robotic end effector to maintain its ability to perform various tasks. The flexible first and second layers can accommodate different task requirements while providing accurate location and force sensing, preserving task performance capability while improving measurement precision.
Solution Approach 2:
The sensor assembly is designed with dynamic characteristics that allow it to respond to varying task requirements. The flexible layers can adapt their deformation characteristics based on the applied forces, enabling the sensor to maintain measurement precision across different task scenarios without compromising the end effector's versatility.
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 robots to achieve improved dynamic range and sensitivity in interacting with objects while maintaining robustness, allowing for precise manipulation and task performance without the need for additional complex sensory structures, thus enhancing their operational capabilities.
Implementation Method 1
a given electrode of the plurality of measurement electrodes is configured to sense changes in electrical resistance or impedance of the polymeric or polymeric-textile substrate
Data Source
AI summary
Provided are systems, devices, and methods for sensing location and forces. A robotic effector comprising a skin and a core can have a plurality of electrodes integrated in the skin and/or core. Upon interaction with a target object, the robotic effector may determine a total force and/or a location of the force by the target object on the robotic effector. Sensitivity and dynamic range of the robotic effector may improve by changing various configurations.