Tactile sensor

• US 9,625,333 B2
• Filed: 03/14/2014
• Issued: 04/18/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Original Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Inventors: Jentoft, Leif, Tenzer, Yaroslav, Howe, Robert
• Primary Examiner(s): Caputo, Lisa
• Assistant Examiner(s): COTEY, PHILIP L
• Application Number:
  US14/212,609
• Publication Number:
  US 20140260678A1
• Time in Patent Office: 1,131 Days
• Field of Search: 73862046
• CPC Class Codes: G01L 1/02 by hydraulic or pneumatic means
• CPC Class Codes: G01L 5/0076 Force sensors associated with manufacturing machines G01L5/0066, G01L5/0071 and B23Q17/09 take precedence; for the specific machine or operation involved see relevant class, e.g. B21 - B42
• CPC Class Codes: G01L 5/228 using tactile array force sensors
• CPC Class Codes: H01L 2224/48137 the bodies being arranged next to each other, e.g. on a common substrate
• CPC Class Codes: Y10T 29/49007 Indicating transducer

Abstract

A tactile sensor includes a pressure transducer encapsulated in an elastic material that defines a contact surface and provides a transmission path that transmits contact forces or pressure distributions applied to the contact surface to the pressure transducer. The pressure transducer can be enclosed in a protective housing that defines a chamber around the transducer. The housing can include one or more openings that expose the chamber to the exterior pressure. The tactile sensor can be made by applying the elastic material in liquid form and exposing the housing to a vacuum that removes air inside the chamber allowing the liquid elastic material to flow into the chamber. Once cured, the elastic material defines a contact surface of the tactile sensor and serves to transfer contact forces applied to the contact surface to the transducer.

Claims

1. A tactile sensor comprising

a transducer mounted to a substrate;

a housing enclosing the transducer and forming a chamber between the housing and the transducer, the housing having at least one opening connecting the chamber and the transducer to an area outside the housing; and

a force transmission medium encapsulating the housing and defining a contact surface and providing a path to transmit a contact force applied to the contact surface to the transducer whereby the transducer produces a signal indicative of the contact force,

wherein the force transmission medium includes a substantially incompressible elastic material.

2. The tactile sensor according to claim 1 wherein the force transmission medium includes at least two different substantially incompressible elastic materials.

3. The tactile sensor according to claim 1 wherein the housing extends over at least a portion of the transducer and extends into at least portion of the force transmission path from the contact surface to the transducer.

4. A tactile sensor comprising

a transducer mounted to a substrate;

a housing enclosing the transducer and forming a chamber between the housing and the transducer, the housing having at least one opening connecting the chamber and the transducer to an area outside the housing;

and

a force transmission medium encapsulating the housing and completely filling the chamber, the force transmission medium defining a contact surface and providing a path through the at least on opening to transmit a contact force applied to the contact surface to the transducer whereby the transducer produces a signal indicative of the contact force,

wherein the force transmission medium includes a substantially incompressible elastic material.

5. The tactile sensor according to claim 4 wherein the force transmission medium includes at least two different substantially incompressible elastic materials.

6. A tactile sensor comprising:

a transducer mounted to a substrate;

a housing connected to the substrate by solder and the housing enclosing the transducer to form a chamber between the housing and the transducer, the housing including a rigid surface portion extending over at least a portion of the transducer and the rigid surface portion having at least one hole connecting the chamber and the transducer to an area outside the housing; and

a force transmission medium extending over the rigid surface portion of the housing and defining a contact surface, the force transmission medium providing a path to transmit a contact force applied to the contact surface to the transducer.

7. The tactile sensor according to claim 6 wherein solder connects the transducer to the substrate.

8. The tactile sensor according to claim 6 wherein the hole in the rigid surface portion extends over a surface area and the hole is less than 15% of the surface area of the rigid surface portion.

9. The tactile sensor according to claim 6 wherein the force transmission medium is an incompressible material that extends from the contact surface through the hole into the chamber and is in contact with the transducer to provide a path to transmit a contact force applied to the contact surface to the transducer whereby the transducer produces a signal indicative of the contact.

10. The tactile sensor according to claim 6 wherein the transducer includes a micro-mechanical gas pressure sensor.

11. The tactile sensor according to claim 10 wherein the micro-mechanical sensor includes a diaphragm having one or more sensors to measure a displacement of the diaphragm.

12. The tactile sensor according to claim 11 wherein the force transmission medium is an incompressible material that extends from the contact surface through the hole into the chamber and is in contact with the diaphragm of the micro-mechanical gas pressure sensor.