Viscoelastic Separation Layer for Compact Shear Force Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing sensor apparatuses struggle to detect the in-plane distribution of shearing forces on a robot hand due to the deformation of a viscoelastic body, leading to difficulties in accurately controlling the robot's behavior, and the use of multiple detection axes results in a larger sensor apparatus.
Innovation Solution
A sensor apparatus with a first pressure sensor, a second pressure sensor, and a viscoelastic separation layer, where the viscoelastic body layer is thinner and softer than the separation layer, allowing for the detection of shearing forces by calculating the shift in pressure centers between the sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a viscoelastic body is used between pressure detectors to detect shearing force, then shearing force detection is enabled, but the viscoelastic body deforms and prevents accurate detection of in-plane shearing force distribution
Solution Approach 1:
The patent divides the sensing system into two separate pressure detection layers (first and second pressure detector arrays) positioned on opposite sides of the viscoelastic body. Each layer independently detects pressure distribution, and by comparing the pressure centers between layers, the system calculates shearing force while compensating for viscoelastic deformation effects.
Solution Approach 2:
The viscoelastic body serves as an intermediary element that transmits forces from the contact surface to the pressure detectors while allowing controlled deformation. Its viscoelastic properties enable it to absorb vertical loads while transmitting in-plane shearing forces to both detector layers, facilitating force separation.
2Adaptability or versatility
If multiple single-axis detection elements are combined to detect multiple-axis force, then force detection capability is improved, but the sensor apparatus size increases
Solution Approach 1:
The patent transitions from planar arrangement to three-dimensional stacking by positioning pressure detector arrays on opposite sides of the viscoelastic body in the thickness direction. This vertical dimensionality allows two complete pressure detection systems to occupy overlapping footprints, effectively doubling detection capability without proportionally increasing planar area.
Solution Approach 2:
The patent implements a nested structure where the first and second pressure detector arrays are positioned within the same planar footprint but separated in the thickness direction by the viscoelastic body. This nesting allows multiple detection functions to be integrated within a compact volume, reducing the overall sensor apparatus size.
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
Enables accurate detection of shearing force distribution on the robot hand, reducing the apparatus size while improving control accuracy by separating vertical and in-plane forces effectively.
Implementation Method 1
The separation layer is arranged between the first pressure sensor and the second pressure sensor, the separation layer being made of a viscoelastic material that is deformed by a load applied to the first pressure sensor
Implementation Method 2
Each of the first pressure sensor and the second pressure sensor may include a sensor electrode layer that includes a plurality of capacitive elements arranged in the in-plane direction, a reference electrode layer, and a deformation layer that is arranged between the sensor electrode layer and the reference electrode layer
Data Source
AI summary
A sensor apparatus and a robotic apparatus that can detect a distribution of a shearing force. A sensor apparatus according to an embodiment of the present technology includes a sensor section, a separation layer, and a first viscoelastic body layer. The sensor section includes a first pressure sensor on a front side of the sensor section that faces and a second pressure sensor on a rear side of the sensor section, the sensor section detecting a force applied in an in-plane direction. The separation layer is between the first pressure sensor and the second pressure sensor, and is made of a viscoelastic material that is deformed by a load applied to the first pressure sensor. The first viscoelastic body layer is on a front surface of the first pressure sensor, and is made of a viscoelastic material that is deformable on the first pressure sensor in the in-plane direction.