Enhancements to improve the function of a biomimetic tactile sensor
First Claim
1. A biomimetic tactile sensor system for determining thermal properties of an object comprising:
- a rigid core having a surface;
an elastomeric skin surrounding at least a portion of the core, having an inner and outer surface, and configured to form a space for confining fluid between the surface of the portion of the core and the inner surface of the elastomeric skin;
a plurality of electrodes disposed on the surface of the rigid core and configured to be in contact with the fluid in a manner that causes the impedance between at least two of the electrodes to change as the amount of force between the outer surface of the elastomeric skin and the object changes when fluid is within the space between the surface of the portion of the core and the inner surface of the elastomeric skin;
a temperature sensor configured and arranged to detect a temperature of the surface of the rigid core;
a heater configured to heat the temperature sensor above ambient temperature; and
an algorithm configured to determine thermal properties of the object based on the impedance between the at least two of the electrodes and the slope of temperature change detected by the temperature sensor.
2 Assignments
0 Petitions
Accused Products
Abstract
Tactile sensors are disclosed that mimic 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. The deformable properties of the finger pad can be used as part of a transduction process. Multiple electrodes can be 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 are described for extracting features related to the mechanical inputs and using this information for reflexive grip control. Controlling grip force in a prosthetic having sensory feedback information is described. Techniques are described for enhancing the useful force range for impedance sensors by internally texturing the elastomeric skin.
143 Citations
28 Claims
-
1. A biomimetic tactile sensor system for determining thermal properties of an object comprising:
-
a rigid core having a surface; an elastomeric skin surrounding at least a portion of the core, having an inner and outer surface, and configured to form a space for confining fluid between the surface of the portion of the core and the inner surface of the elastomeric skin; a plurality of electrodes disposed on the surface of the rigid core and configured to be in contact with the fluid in a manner that causes the impedance between at least two of the electrodes to change as the amount of force between the outer surface of the elastomeric skin and the object changes when fluid is within the space between the surface of the portion of the core and the inner surface of the elastomeric skin; a temperature sensor configured and arranged to detect a temperature of the surface of the rigid core; a heater configured to heat the temperature sensor above ambient temperature; and an algorithm configured to determine thermal properties of the object based on the impedance between the at least two of the electrodes and the slope of temperature change detected by the temperature sensor. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A biomimetic tactile sensor system comprising:
-
a rigid core having a surface and a plurality of electrodes disposed on the surface, wherein the electrodes are configured and arranged to detect impedance changes of a fluid; an elastomeric skin surrounding at least a portion of the core and having an inner and outer surface, and configured and arranged to form a space for confining a fluid between the surface of the core and the inner surface, wherein the inner surface of the skin comprises a plurality of asperities; and detection circuitry configured and arranged to detect changes in electrical impedance of the fluid between at least one of the electrodes caused by force that is exerted on the elastomeric skin, wherein the asperities are configured to cause the electrical impedance to increase in response to an increase in the force that is exerted on the elastomeric skin after the force reaches a level that causes the elastomeric skin to come in contact with the at least one electrode. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
-
18. A biomimetic tactile sensor system comprising:
-
a rigid core having a surface; an elastomeric skin surrounding at least a portion of the core and having an inner and outer surface, and configured and arranged to form a space for confining a fluid between the surface of the core and the inner surface; one or more sensors configured and arranged to detect a physical characteristic of the fluid within the sensor system; a collar seal for sealing the skin against the core in a fluid tight configuration. - View Dependent Claims (19, 20, 21, 22)
-
-
23. A biomimetic tactile sensor system comprising:
-
a rigid core having a surface; an elastomeric skin surrounding at least a portion of the core and having an inner and outer surface, and configured and arranged to form a space for confining a fluid between the surface of the core and the inner surface; one or more sensors configured and arranged to detect a physical characteristic of the fluid within the sensor system; and a resealable inflation port disposed within the skin for filling the space with fluid. - View Dependent Claims (24, 25, 26, 27, 28)
-
Specification