Subdermal and Epidermal Over-Mold Layers for Telepresence Robotics

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Solution Overview

Problem

Telepresence robotics systems lack intuitive and robust biomechanical mimicry capabilities due to their construction, materials, and limited customizability, resulting in unintuitive responsivity and latency issues during interactions between operators and robots.

Innovation Solution

The development of subdermal over-mold and skin-like epidermal over-mold layers that mimic human or animal musculature and skin, providing a yielding exterior and reduced mass to enhance biomechanical movement translation and immersive interaction, while maintaining structural rigidity and versatility in design.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If traditional rigid construction materials are used for robot frame, then structural strength is improved, but biomechanical mimicry capability deteriorates

Engineering Contradiction:

Improvestructural strengthVSAvoidbiomechanical mimicry capability

Core Design Contradiction:

StrengthVSAdaptability or versatility

Solution Approach 1:

The robot body is divided into multiple segments: an inner rigid skeletal frame for structural strength, a middle subdermal layer for muscle simulation, and an outer epidermal skin layer for tactile sensation. This segmentation allows each layer to perform its specialized function without compromising the others.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent employs composite material structures combining rigid frame materials (metal or rigid polymer) with compliant over-mold materials (silicone rubber or elastomers). This composite approach integrates the advantages of both rigid and flexible materials to achieve simultaneous strength and biomimetic properties.

Inventive Principle:

Principle #40Composite materials

2Stability of the object's composition

If heavy materials are used for robot construction, then structural stability is improved, but movement responsiveness and latency deteriorate

Engineering Contradiction:

Improvestructural stabilityVSAvoidmovement responsiveness

Core Design Contradiction:

Stability of the object's compositionVSSpeed

Solution Approach 1:

Different regions of the robot body have different mass densities optimized for their specific functions. Critical structural areas use denser materials for stability, while limb and articulation areas use lighter compliant materials for faster movement and reduced latency.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The rigid frame is encapsulated by flexible subdermal and epidermal layers that are thin relative to the overall robot dimensions. These thin compliant layers provide biomimetic properties without adding significant mass that would slow down movements.

Inventive Principle:

Principle #30Flexible shells and thin films

3Ease of manufacture

If simple single-layer construction is used, then manufacturing simplicity is improved, but tactile sensation and biomimetic realism deteriorate

Engineering Contradiction:

Improvemanufacturing simplicityVSAvoidtactile sensation capability

Core Design Contradiction:

Ease of manufactureVSAdaptability or versatility

Solution Approach 1:

The tactile sensing function is segmented across multiple layers: the epidermal skin layer contains tactile sensors for touch sensation, the subdermal layer provides structural compliance, and the frame layer offers rigid support. This segmentation enables sophisticated tactile capability while maintaining modular manufacturing.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The multi-layer construction serves multiple functions simultaneously: structural support, muscle simulation, tactile sensing, and skin-like appearance. This multi-functionality is achieved through integrated design where each layer contributes to several overall system functions.

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Adaptability or versatility

If highly customizable multi-layer construction is used, then biomechanical mimicry and tactile sensation are improved, but device complexity increases

Engineering Contradiction:

Improvebiomechanical mimicry capabilityVSAvoidconstruction complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The complex multi-functional robot body is segmented into three manageable layers that can be manufactured and assembled separately. The rigid frame is manufactured first, then the subdermal layer is molded over it, and finally the epidermal skin layer is applied, simplifying the overall manufacturing process despite the sophisticated final structure.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The rigid skeletal frame is constructed and positioned in advance before the compliant over-mold layers are applied. This preliminary action allows the frame to serve as a precise mold for the subsequent layers, ensuring proper structural alignment while simplifying the manufacturing sequence.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS20230256589A1System of subdermal and skin-like epidermal over-mold layers for a modular robotics system and method of fabrication

Publication Date: 2023.08.17 KOHM NICOLE ALEXANDRIA

AI summary

A construction of a telepresence robotics platform with polymeric and biomimetic over-molded tissue analogues, optimized for having the compressive, sensate, mechanical, functional, and tumescent properties of bone, cartilage, tendons, organs, muscle, fat, skin, and erogenous tissue, with options for adjustment thereof based on an operator's needs of inertial latency and center of gravity via various selected epidermal layer densities.