Biomimetic Tactile Sensor for Control of Grip
First Claim
1. ) A biomimetic tactile sensor for detecting a wide dynamic range of output signals comprising:
- a) a substantially rigid core having 20-100 sensing electrodes distributed along the surface of the substantially rigid core, wherein each of the electrodes is configured to sense contact information relating to contact between the electrode and another object independent of the contact information sensed by the other electrodes;
b) at least one deformable skin-like layer attached to the core; and
c) detection circuitry mounted within the core and electrically coupled to the electrodes and configured to detect contact information sensed by each of the electrodes at a resolution of 12 or more bits per sample data, wherein each sample data is one contact information detected by each of the electrodes.
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Accused Products
Abstract
Disclosed is a robust tactile sensor array that mimics the human fingertip and its touch receptors. The mechanical components are similar to a fingertip, with a rigid core surrounded by a weakly conductive fluid contained within an elastomeric skin. It uses the deformable properties of the finger pad as part of the transduction process. Multiple electrodes are mounted on the surface of the rigid core and connected to impedance measuring circuitry within the core. External forces deform the fluid path around the electrodes, resulting in a distributed pattern of impedance changes containing information about those forces and the objects that applied them. Strategies for extracting features related to the mechanical inputs and using this information for reflexive grip control.
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Citations
20 Claims
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1. ) A biomimetic tactile sensor for detecting a wide dynamic range of output signals comprising:
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a) a substantially rigid core having 20-100 sensing electrodes distributed along the surface of the substantially rigid core, wherein each of the electrodes is configured to sense contact information relating to contact between the electrode and another object independent of the contact information sensed by the other electrodes; b) at least one deformable skin-like layer attached to the core; and c) detection circuitry mounted within the core and electrically coupled to the electrodes and configured to detect contact information sensed by each of the electrodes at a resolution of 12 or more bits per sample data, wherein each sample data is one contact information detected by each of the electrodes. - View Dependent Claims (2, 3, 4, 5, 6, 8)
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7. ) The biomimetic tactile sensor of claim 7, wherein the clock signal is a substantially-square-wave signal.
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9. ) A biomimetic tactile sensor that substantially mimics a human fingertip and its distributed touch receptors comprising:
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a) a substantially rigid core; b) a plurality of electrodes distributed along the surface of the core, wherein each of the electrodes is configured to sense contact information relating to contact between the electrode and another object independent of the contact information sensed by the other electrodes; c) at least one deformable skin-like layer attached to the core having an inner and an outer surface, wherein at least one of the surfaces is textured; d) deformable material between the core and the inner surface of the at least one deformable layer; and e) detection circuitry mounted within the core and electrically coupled to the plurality of the electrodes and configured to detect contact information sensed by each of the electrodes. - View Dependent Claims (10, 11, 12, 13, 14)
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15. ) A fingertip-like biomimetic tactile sensor for delivering an electrical indication of contact to control a grip comprising:
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a) a substantially rigid core having a curved surface; b) a plurality of electrodes distributed along the curved surface of the core; c) at least one deformable layer having an inner and an outer surface; d) deformable material enclosed between the core and the inner surface of the at least one deformable layer; and e) detection circuitry configured to detect contact information from at least one of the plurality of the electrodes and to generate an electrical indication of the contact information for controlling a grip. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification