Tactile Sensing Device With Adjustable Softness
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Solution Overview
Problem
Conventional tactile sensing devices for robots and apparatuses are rigid and lack the ability to introduce varying degrees of softness, limiting their interaction capabilities and safety in human-robot interaction, grasping operations, and collision detection.
Innovation Solution
A tactile sensing device composed of a matrix of elastic airbags with a pressure adjusting unit and pressure sensing units, allowing for the detection of touch magnitude and position while enabling adjustable softness by controlling the internal pressure of each airbag through an air supply and piping system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical switch sensors or tactile/force sensors are used to provide tactile sensing ability, then the sensing capability is improved, but the appearance remains rigid and hard
Solution Approach 1:
The patent uses elastic airbags as flexible sensing elements that can conform to soft surface requirements while maintaining tactile sensing capability. The airbags are made of elastic material that allows the surface to be soft and adaptable, replacing rigid sensor structures with flexible pneumatic elements.
Solution Approach 2:
The patent employs pneumatic pressure control within elastic airbags to achieve variable softness. By adjusting the internal air pressure of each airbag independently, the system can dynamically change the surface compliance while maintaining the underlying sensing structure, thus decoupling the sensing function from the mechanical rigidity.
2Shape
If a fixed soft surface is used to introduce softness to the apparatus, then the softness is improved, but the ability to adjust different degrees of softness is lost
Solution Approach 1:
The patent makes the surface softness dynamic and adjustable by controlling the air pressure in each airbag independently. The system can change the mechanical properties of the surface in real-time based on operational requirements, allowing the same surface to exhibit different degrees of softness as needed.
Solution Approach 2:
The patent changes the physical parameter (internal air pressure) of the elastic airbags to control surface softness. By varying the pressure parameter, the system can continuously adjust the stiffness and compliance of the surface, providing adaptable softness across different operating conditions.
3Adaptability or versatility
If individual pressure control of each airbag is implemented, then the adjustable softness is improved, but the device complexity increases
Solution Approach 1:
The patent combines multiple airbags into a matrix array structure where individual pressure control is achieved through a coordinated system. The control unit manages multiple pressure adjustments by coordinating actions across the airbag matrix, reducing overall system complexity compared to fully independent control mechanisms.
Solution Approach 2:
The patent creates a universal control system that can adjust any region of the airbag matrix by controlling individual airbags. The same pressure control mechanism serves multiple functions: adjusting softness, detecting touches, and adapting to different operational modes, thereby reducing the need for separate specialized components.
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
Enhances human-robot interaction, improves grasping safety by adjusting grasping force, and facilitates collision detection and response, protecting both the apparatus and ambient objects from damage by allowing for adaptable softness and movement speed adjustments.
Implementation Method 1
each having an inner space formed therein; a pressure adjusting unit, connected to the tactile sensing layer by a piping system for adjusting and controlling the inner space pressure of each elastic element; at least a pressure sensing unit, each for measuring a pressure of one of the plural elastic element corresponding thereto
Implementation Method 2
a pressure adjusting unit, connected to the tactile sensing layer by a piping system for adjusting and controlling the inner space pressure of each elastic element
Data Source
AI summary
The present invention provides a tactile sensing device comprising a tactile sensing layer, a pressure adjusting unit, at least one pressure sensing unit and a control unit. The tactile sensing layer includes a plurality of elastic elements, each of which has an inner space. The pressure adjusting unit coupled to the tactile sensing layer functions to provide and control variation of the pressure in the inner space of each elastic element. The control unit is coupled to the air supply unit and the at least one pressure sensing unit. The control unit is capable of receiving sensing signal from the at least one pressure sensing unit. In addition, the present invention also provides an apparatus whose surface is covered by the tactile sensing device. With the foregoing disclosure, it is capable of detecting the location and magnitude of the force acted on the tactile sensing device disposed on the surface of the apparatus through sensing the variation of pressure occurred in the elastic elements. Meanwhile, it is also able to change the softness of the tactile sensing device by controlling the air pressure inside the elastic elements.