Robotic Gripper Tactile Sensor Arrays for Slip-Responsive Control
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Solution Overview
Problem
Conventional robotic systems lack human-like sensory input, relying on pre-programmed commands and single-modality sensing architectures, which limits their ability to adjust to operational irregularities and perform advanced operations, leading to potential damage to objects and grippers due to inadequate tactile perception.
Innovation Solution
A robotic gripper with a hierarchical sensor architecture that integrates multiple tactile sensor arrays and a central data processing circuit to collect and process large amounts of sensor data, enabling the detection of problematic operating conditions and modifying gripper operations to prevent damage, such as slipping, without requiring significant modifications to the robotic system's controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple tactile sensor arrays are integrated into the gripper to enhance sensory perception, then the ability to detect and respond to operational irregularities improves, but the device complexity increases
Solution Approach 1:
The tactile sensing system is divided into multiple independent sensor arrays distributed across different fingers and surfaces of the gripper. Each sensor array independently monitors local contact conditions, allowing the system to detect slips, pressure distribution, and object characteristics without requiring a single complex centralized sensor system.
Solution Approach 2:
The patent transitions from single-modality sensing to multi-modal sensing by integrating various types of tactile sensors (pressure, friction, temperature, vibration) that sense different physical dimensions. This multi-dimensional sensing approach comprehensively monitors operational irregularities while maintaining manageable individual sensor complexities.
2Speed
If a hierarchical sensor architecture with central data processing circuit is implemented, then the processing speed and response time to operational irregularities improve, but the device complexity increases
Solution Approach 1:
The data processing architecture is segmented into hierarchical levels: local processing units on each finger handle immediate sensor data, while a central processing unit coordinates overall gripper operation. This segmentation enables fast local responses to slips or pressure changes without requiring all sensor data to be processed centrally, reducing overall system complexity while maintaining high response speed.
Solution Approach 2:
The hierarchical architecture performs preliminary data processing and filtering at the local sensor array level before transmitting processed information to the central controller. This preliminary action reduces the data burden on the central system and enables faster response times by handling critical processing locally where the data is generated.
3Loss of information
If integrated tactile sensor arrays are added to the gripper structure, then the sensory perception capability improves, but the manufacturing complexity increases
Solution Approach 1:
The gripper structure is designed with integrated sensor arrays that serve multiple functions: pressure sensing, friction detection, temperature monitoring, and vibration detection. This multi-functionality reduces the need for separate specialized sensor systems, simplifying the overall manufacturing process while comprehensively improving sensory perception capability.
Solution Approach 2:
Multiple types of tactile sensors are merged into integrated arrays that are co-located and coordinated on each gripper finger. This merging approach consolidates what would otherwise be separate manufacturing processes into unified sensor modules, reducing manufacturing complexity while maximizing sensory information collection.
4Device complexity
If single-modality sensing architecture is used, then the device complexity is reduced, but the ability to perform advanced robotic operations and adjust to operational irregularities is limited
Solution Approach 1:
The system employs multiple sensing modalities that detect different physical parameters (pressure magnitude, friction coefficient, temperature, vibration frequency) simultaneously. By monitoring changes in multiple parameters rather than relying on a single parameter, the gripper can distinguish between different operational irregularities (such as distinguishing a slip from a deliberate object movement) and adapt its response accordingly, enhancing versatility without excessive complexity.
Data Source
AI summary
A robotic gripper (end effector) for an arm-type robotic system includes a hierarchical sensor architecture that utilizes a central data processing circuit to generate rich sensory tactile data in response to pressure, temperature, vibration and/or proximity sensor data generated by finger-mounted sensor groups in response to interactions between the robotic gripper and a target object during robotic system operations. The rich sensory tactile data is used to generate feedback signals that directly control finger actuators and/or tactile information that is supplied to the robotic system's control circuit. Sensor data processing circuits are configured to receive single-sensor data signals in parallel from the sensor groups, and to transmit corresponding finger-level sensor data signal on a serial bus/signal line to the central data processing circuit. Each sensor group and an associated sensor data processing circuit are disposed on a PCB structure and mounted on a contact portion of an associated gripper finger.