Tactile Sensor for Manipulator Contact Point Detection
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Solution Overview
Problem
Manipulators equipped with pressure sensors struggle to accurately sense contact points and forces during object grabbing, leading to decreased accuracy and potential dropping of objects due to the limitations of single-point pressure sensors.
Innovation Solution
A tactile sensor system comprising a contact part, a sensing part, and a detection part, where the sensing part moves under pressure to generate a sensing signal that determines contact parameters between the manipulator and the object, utilizing a sensing electrode and sensor chip to output feedback signals for improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single-point pressure sensor is used in the manipulator, then the device complexity is reduced, but the measurement precision of contact points deteriorates
Solution Approach 1:
The sensor is divided into three functional segments: a contact part for receiving pressure, a sensing part with sensing electrode that moves under pressure, and a detection part with sensor chip that detects the position change. This segmentation allows each part to specialize in its function, improving measurement precision while keeping individual components relatively simple.
Solution Approach 2:
An elastic part is introduced as an intermediary between the contact part and the sensing part. This elastic part transmits the pressure force while allowing the sensing part to move independently to detect position changes, thereby improving contact point detection without significantly increasing overall device complexity.
2Device complexity
If pressure sensors are used without tactile sense feedback, then the device complexity is reduced, but the reliability of grabbing operation deteriorates
Solution Approach 1:
The sensor generates sensing signals based on the position change of the sensing part under pressure, providing real-time feedback about contact force and position. This feedback mechanism enables the manipulator to adjust its grabbing force dynamically, significantly improving grabbing reliability while maintaining relatively simple hardware through the use of a single integrated sensor structure.
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 tactile sensor system enables precise detection of contact points and forces, enhancing the accuracy of object grabbing by continuously monitoring the grabbing state and adjusting contact points, thus overcoming the limitations of traditional pressure sensors.
Implementation Method 1
the sensing part moving in a direction away from the contact part under an action of the pressure; and a detection part, located on a side of the sensing part away from the contact part, the detection part sensing a position change of the sensing part to generate a sensing signal
Data Source
AI summary
A tactile sensor, including: a contact part (1), configured to receive pressure transmitted when a manipulator grabs a target object, and transmit the pressure to a sensing part (2); the sensing part (2), located on one side of the contact part, the sensing part (2) moving in a direction away from the contact part (1) under an action of the pressure; and a detection part (4), located on a side of the sensing part (2) away from the contact part (1), the detection part (4) sensing a position change of the sensing part (2) to generate a sensing signal, wherein the sensing signal is configured to determine a contact parameter between the manipulator and the target object.