MULTI-AXIS FORCE SENSING SOFT ARTIFICIAL SKIN

摘要

A sensor including a layer having viscoelastic properties, the layer comprising a void, the void filled with a fluid; and optionally, a more rigid sensing element embedded within the layer. When a force is applied to a surface of the sensor, the shape of the void changes, causing the electrical resistance of the fluid in the void to change. When included, the more rigid sensing element can bear upon the void to cause the electrical resistance of the fluid in the void to change. A direction and intensity of the force can be determined by measuring the change of the electrical resistance of different voids positioned about the sensing element. The layer can be an elastomer, preferably silicone rubber. The fluid can be a conductive liquid, preferably Eutectic Gallium Indium. The sensing element can be plastic and can have a “Joystick” shape. The voids can take the form of channels or microchannels having a predefined pattern and/or shape.

主权项

1. A multi-axis sensor comprising:
a layer of flexible material having a defined thickness and a contact surface; one or more substantially rigid sensing elements embedded within the flexible material, each sensing element including a substantially planar portion and at least one projecting portion extending substantially perpendicular to the planar portion, the planar portion being oriented substantially parallel to at least a portion of the contact surface; at least one microchannel in the flexible material extending near the planar portion of at least one of the rigid sensing elements, such that a force applied to the contact surface causes the rigid sensing element to move relative to the microchannel and cause the microchannel to change in a cross-sectional dimension; and a conductive fluid disposed in the at least one microchannel, wherein electrical resistance of the conductive fluid in the at least one microchannel changes as a function of the change in orientation of the rigid sensing element.