Tactile Sensor Protrusion Design for Multi-Force Detection
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Solution Overview
Problem
Conventional tactile sensors for robots are limited in their ability to detect both pressing force and subtle forces like shearing stress and sliding friction, especially when interacting with varied objects, which can lead to damage or improper grasping, and are often complex and costly to manufacture and install.
Innovation Solution
A tactile sensor comprising a flexible or elastic first sheet and a second sheet with protrusions, where enclosed spaces between the sheets contain electrode patterns, allowing for the detection of pressure, shearing stress, and sliding friction through capacitance changes, enabling flexible deformation and dispersion of pressure for accurate force control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional tactile sensors are used to detect pressing force, then pressing force detection is achieved, but shearing stress and sliding friction cannot be detected
Solution Approach 1:
The sensor surface is divided into multiple protruding shapes (convex portions) with enclosed spaces between them. Each protrusion and enclosed space forms a separate sensing unit with electrode patterns, allowing independent detection of different force components across the surface.
Solution Approach 2:
Different regions of the sensor have different functional characteristics. The protruding shapes provide localized pressure points while the enclosed spaces between them detect shearing stress and sliding friction through capacitance changes, creating local quality variations that enable multi-force detection.
2Measurement precision
If complex tactile sensor structures are used to detect multiple forces, then detection capability is improved, but manufacturing complexity and cost increase
Solution Approach 1:
The same basic structure (protrusion with enclosed space containing electrode patterns) performs multiple functions: detecting pressing force, shearing stress, and sliding friction simultaneously. This multi-functional design eliminates the need for separate sensor systems for each force type.
Solution Approach 2:
The sensor detects different force components by measuring capacitance changes between electrode patterns. By changing the measurement parameters (capacitance variations) rather than using different physical sensing mechanisms, the system achieves multi-force detection with a unified structure.
3Stability of the object's composition
If rigid sensor structures are used for force detection, then structural stability is maintained, but flexibility and pressure dispersion are reduced
Solution Approach 1:
The sensor employs protruding shapes with curved surfaces instead of flat or rigid structures. These convex portions naturally disperse applied pressure across their curved surfaces while maintaining structural integrity, providing both flexibility and stability.
Solution Approach 2:
The sensor structure uses thin, flexible sheets with protruding shapes that can deform under applied forces. This flexible shell structure allows the sensor to adapt to various object shapes and disperse pressure while maintaining sufficient structural stability for accurate detection.
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 sensor effectively detects pressing force, shearing stress, and sliding friction, facilitating precise force control and reducing the risk of object damage, while being simpler and more cost-effective to manufacture and integrate into robotic systems.
Implementation Method 1
a tactile sensor including: an elastic sheet; a first electrode pattern and a second electrode pattern; and a sensing section that senses a deformation of the plurality of protrusions on the basis of a change in capacitance between the first electrode pattern and the second electrode pattern
Implementation Method 2
an ultrasonic reflector that moves from one position to another according to the deformation of the elastic film, an ultrasonic element that emits ultrasonic waves and receives reflected ultrasonic waves
Data Source
AI summary
A tactile sensor includes: a first sheet having at least either flexibility or elasticity; and a second sheet having at least either flexibility or elasticity and having a first surface facing the first sheet and a second surface opposite to the first surface. The second surface includes a plurality of protruding shapes. Each of the plurality of protruding shapes includes an enclosed space inside, the enclosed space being defined by the first surface of the second sheet and the first sheet. At least one first electrode pattern is disposed on the first sheet in the enclosed space of each of the plurality of protruding shapes. At least one second electrode pattern is disposed on the first surface in the enclosed space of each of the plurality of protruding shapes.