Viscoelastic Magnet Tactile Sensor for Robotic Gripping
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Solution Overview
Problem
Current tactile sensors are inadequate for accurately detecting the static and dynamic states of objects in contact with robot hands or manipulators, and for high-affinity physical interaction with humans, as they lack the necessary softness and complexity to effectively grip and manipulate various objects.
Innovation Solution
A detecting device utilizing a viscoelastic magnet made by kneading and molding a magnet material with a viscoelastic material, combined with magnetic-flux detecting means that detect changes in magnetic flux density vectors due to deformation, allowing for accurate detection of loading pressure and position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If general tactile sensors are used, then detection capability is provided, but the sensor lacks softness optimum for griping and grippability
Solution Approach 1:
The patent uses a composite material consisting of magnet particles dispersed in a viscoelastic body. This composite structure provides both the detection capability (through magnetic particles) and the softness for griping (through viscoelastic material), resolving the contradiction between measurement precision and adaptability.
Solution Approach 2:
The patent changes the physical parameters of the sensor material by using viscoelastic material with specific elastic modulus and viscosity coefficients. This allows the sensor to maintain both detection precision and optimal softness for gripping various objects with different surfaces and weights.
2Adaptability or versatility
If tactile sensors with softness for griping are implemented, then grippability is improved, but detection accuracy for static and dynamic states deteriorates
Solution Approach 1:
By combining magnet particles (for accurate detection) with viscoelastic material (for softness and grippability), the patent achieves both high grippability and accurate detection of static and dynamic states simultaneously.
Solution Approach 2:
The patent replaces conventional mechanical sensing structures with a magnetic field-based detection system. Magnetic flux density changes detect deformation and contact forces, providing accurate static and dynamic state detection while maintaining the soft viscoelastic structure for optimal grippability.
3Ease of manufacture
If conventional sensor structures are used, then manufacturing is simplified, but the sensor cannot detect dynamic behaviors such as slide, roll, and vibration
Solution Approach 1:
The patent replaces complex mechanical sensing structures with a magnetic field-based detection system. The viscoelastic magnet's magnetic flux changes respond to various dynamic behaviors (slide, roll, vibration), enabling comprehensive dynamic detection while maintaining manufacturing simplicity through material-based sensing rather than complex mechanical assemblies.
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 the robot hand or manipulator to dexterously grip and manipulate arbitrary objects with various sizes, shapes, and surface states, while achieving higher-affinity physical interaction with humans by accurately sensing static and dynamic states.
Implementation Method 1
a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and magnetic-flux detecting means for detecting a change in a magnetic flux density vector due to deformation of the viscoelastic magnet
Implementation Method 2
detecting a change in a magnetic flux density vector due to deformation of the viscoelastic magnet
Data Source
AI summary
A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.