Robotics Skin with Integral Elastomeric Actuation Points
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Solution Overview
Problem
Current skin systems for robotics fail to provide realistic and durable facial movements due to inadequate connection methods between the skin and robotic actuators, leading to unnatural movement and frequent maintenance needs.
Innovation Solution
The method involves integrating elastomeric actuation points (EAPs) into the skin manufacturing process, using a core mold with posts and connectors to accurately position EAPs within the skin, which are then bonded with the skin material, providing a durable and realistic movement system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional manual connection methods are used to attach skin to robotic actuators, then the skin can be applied over robotics, but the connection points become apparent and movement is undesirably localized
Solution Approach 1:
The elastomeric actuation points are integrated directly into the skin fabrication process by embedding them within the skin material during molding. This merging of the actuation points and skin into a single integrated component eliminates visible connection points and creates natural, widespread facial movements across the entire skin surface rather than localized movement at attachment points.
2Duration of action of moving object
If skin is attached to mechanical actuators using conventional methods, then the skin can move with the actuators, but the attachment points are visible and durability is reduced
Solution Approach 1:
The elastomeric actuation points are pre-positioned and embedded within the skin material during the skin fabrication process itself, before the skin is applied to the robot. This preliminary integration ensures precise positioning and creates durable, permanent bonds between the actuation points and skin, eliminating the need for post-fabrication attachment and reducing maintenance requirements.
3Productivity
If manual processes are used to create skin systems, then customization is possible, but the process requires many man-hours and is time-consuming
Solution Approach 1:
The skin fabrication process utilizes moldable materials with specific flow and curing characteristics that allow automated molding techniques to be employed. By controlling parameters such as material viscosity, mold temperature, and curing time, the process achieves high precision actuation point positioning and realistic skin formation while dramatically reducing manual labor requirements and fabrication time.
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
The integrated EAPs enhance the durability and realism of skin movements, reducing maintenance requirements and costs by providing a superior bond between the skin and actuators, allowing for more natural and widespread facial animations.
Implementation Method 1
after the skin-forming material hardens to form the skin system
Implementation Method 2
the EAPs are integrally formed or bonded. Once hardened, the mold is disassembled and the skin removed from the core with the EAPs permanently in place
Data Source
AI summary
A method for fabricating an artificial skin system for use with a robotics assembly. The method includes providing a mold core with an exterior surface defining an inner surface of a skin system, with this surface including a plurality of mounting elements. The method includes attaching, to each of the mounting elements, an elastomeric actuation piece or point (EAP). The mold core is positioned within an exterior skin mold, and a cavity is formed between the exterior surface of the mold core and inner surfaces of the exterior skin mold that defines topography and dimensions of the skin system. The method includes filling the cavity with skin-forming material. Then, after the skin-forming material hardens to form the skin system, the method includes removing the skin system from the mold core including detaching the EAPs from the mounting elements, and the EAPs are integrally bonded within the skin system.