Sensor-Guided Pneumatic Soft Robot Contact Force Control
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Solution Overview
Problem
Existing amusement park interactive systems lack life-like and dynamic interactions, often appearing mechanical due to linear movements and limitations in physical interactions, which can result in a less immersive experience for users.
Innovation Solution
A pneumatic robotic system utilizing fluid actuators with sensors and controllers to create life-like movements and interactions by adjusting inflation based on real-time feedback, allowing for controlled physical contact and maintaining force within predetermined ranges, enhancing user experience through fluid and dynamic movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional mechanical devices are used to actuate interactive components, then the system structure is simple and reliable, but the movement appears linear and mechanical, reducing life-like interaction quality
Solution Approach 1:
The patent employs pneumatic actuators with inflatable masses to replace traditional mechanical actuation systems. These pneumatic devices produce fluid, organic movements that closely mimic biological motion patterns, thereby achieving life-like interaction quality while maintaining system reliability through the inherent simplicity of pneumatic control
Solution Approach 2:
The system dynamically adjusts inflation parameters of the pneumatic actuators to modulate movement characteristics, force application, and interaction intensity. By changing physical parameters such as inflation pressure and volume in real-time, the system achieves versatile life-like movements while maintaining structural reliability
2Adaptability or versatility
If interactive components are designed to physically interact with themselves or other objects, then user engagement increases, but mechanical forces from collisions may cause damage or injury
Solution Approach 1:
The controller dynamically adjusts inflation parameters of the pneumatic actuators during interactions to modulate force application. By changing the physical state of the inflatable masses in real-time, the system can engage in versatile physical interactions while maintaining forces within safe, predetermined ranges to prevent damage or injury
Solution Approach 2:
The system incorporates sensors that provide real-time feedback on interaction forces and states. This feedback loop enables the controller to continuously adjust pneumatic actuation parameters, ensuring that interaction capabilities are maximized while collision forces remain within safe limits to prevent harmful effects
3Ease of manufacture
If pneumatic actuators with real-time control are implemented, then life-like and dynamic interactions are achieved, but device complexity increases
Solution Approach 1:
The patent utilizes pneumatic actuators with inflatable masses that inherently produce life-like, organic movements. The pneumatic system's simplicity in terms of control architecture (pressure regulation) offsets the added mechanical complexity, achieving life-like movement quality without proportionally increasing overall system complexity
Solution Approach 2:
The use of inflatable masses with flexible membranes enables life-like deformations and movements. These flexible structures naturally exhibit organic motion patterns similar to biological systems, achieving the desired movement quality while the inflation/deflation mechanism keeps the control system relatively simple
4Object-affected harmful factors
If force control during interactions is implemented to maintain safety, then user safety increases, but interaction dynamics may be limited
Solution Approach 1:
The system dynamically adjusts inflation parameters of the pneumatic actuators during interactions to modulate force application. By changing the physical state of the inflatable masses in real-time, the system can engage in versatile physical interactions while maintaining forces within safe, predetermined ranges to prevent damage or injury
Solution Approach 2:
The controller continuously adjusts pneumatic actuation parameters during interactions based on real-time sensor feedback. This dynamic control enables the system to adapt interaction forces and movements to maintain safety while preserving rich interaction dynamics and user engagement
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 pneumatic robotic system provides a more immersive and comfortable interactive experience by enabling life-like movements and controlled physical interactions, enhancing user engagement and safety in amusement parks.
Implementation Method 1
a fluid actuator having an inflatable mass, the inflatable mass being fluidly connected to a source of pressurized fluid to enable inflation of the inflatable mass
Data Source
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AI summary
A pneumatic robotic system includes an attraction feature. The attraction feature includes a plurality of fluid actuators configured to provide a shape and a motion profile of the attraction feature in response to controlled inflation. The attraction feature further includes a fluid source fluidly coupled to the attraction feature and configured to provide pressurized fluid to the plurality of fluid actuators, one or more fluid control devices configured to control pressurized fluid flow from the fluid source to the plurality of fluid actuators, one or more sensors associated with the attraction feature and configured to monitor state properties of the plurality of fluid actuators, and a controller communicatively coupled to the one or more fluid control devices and to the one or more sensors. The controller is configured to analyze feedback from the one or more sensors relating to an interaction between the attraction feature and a target as the interaction is occurring to determine one or more interaction parameters associated with the interaction, wherein the interaction between the attraction feature and the target comprises physical contact between the attraction feature and the target, and adjust inflation of at least one of the plurality of fluid actuators to maintain the one or more interaction parameters within a predetermined range as the interaction is occurring.