SYSTEM FOR PROVIDING TACTILE SENSATION TO A ROBOTIC GRASPING MECHANISM USING CAPACITANCE TOUCHPAD TECHNOLOGY
First Claim
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1. A tactile sensing system utilizing touchpad technology, said system comprised of:
- an outer electrode grid;
an inner electrode grid;
at least one compressible material disposed between the outer electrode grid and the inner electrode grid; and
a control system in communication with the outer electrode grid and the inner electrode grid, wherein the control system determines a force applied to the outer electrode grid by measuring a change in distance between the outer electrode grid and the inner electrode grid when the at least one compressible material is deformed.
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Abstract
A capacitance sensitive touchpad, wherein X and Y electrode grids are separated by a resilient but deformable material, such as a gel or other rubber-like material, wherein an object coming into contact with the touchpad causes the resilient material between the electrode grids to be compressed, and wherein the touchpad is capable of determining the change in distance between the electrode grids and thereby determine the amount of force being applied to the touchpad to cause the detected compression of the resilient material.
29 Citations
15 Claims
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1. A tactile sensing system utilizing touchpad technology, said system comprised of:
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an outer electrode grid;
an inner electrode grid;
at least one compressible material disposed between the outer electrode grid and the inner electrode grid; and
a control system in communication with the outer electrode grid and the inner electrode grid, wherein the control system determines a force applied to the outer electrode grid by measuring a change in distance between the outer electrode grid and the inner electrode grid when the at least one compressible material is deformed. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for providing tactile feedback to a mechanical system, said method comprising the steps of:
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(1) providing an outer electrode grid, and inner electrode grid, and at least one compressible material disposed between the outer electrode grid and the inner electrode grid; and
(2) providing a control system that receives data from the outer electrode grid and the inner electrode grid, wherein the control system determines a change in distance between the outer electrode grid and the inner electrode grid to thereby determine if a force is being applied to the outer electrode grid. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A tactile sensing system utilizing touchpad technology, said system comprised of:
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An outer touchpad;
An inner touchpad;
at least one compressible material disposed between the outer touchpad and the inner touchpad; and
a control system in communication with the outer touchpad and the inner touchpad, wherein the control system determines a force applied to the outer touchpad by measuring a change in distance between the outer touchpad and the inner touchpad when the at least one compressible material is deformed.
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15. A tactile sensing system utilizing touchpad technology, said system comprised of:
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an outer detectable sheet;
an inner touchpad;
at least one compressible material disposed between the outer detectable sheet and the inner touchpad; and
a control system in communication with the inner touchpad, wherein the control system determines a force applied to the outer detectable sheet by measuring a change in distance between the outer detectable sheet and the inner touchpad when the at least one compressible material is deformed.
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Specification