Robot skin apparatus, method of fabricating a robot skin apparatus, and a system including a robot skin apparatus
US11541550B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 6, 2018 |
| Grant date | Jan 3, 2023 |
| Priority date | — |
| Expiry date | Feb 26, 2039 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J15/024
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot skin apparatus includes polymer membranes encapsulating a pressure sensor. The sensor includes piezo-sensitive material in contact with a pair of electrodes in spaced relationship to form a circuit. The apparatus may include a flexible substrate, with the electrodes thereon. The piezo-sensitive material may be piezoresistive film. The electrodes may be symmetrically patterned on the substrate to form a substantially circular peripheral boundary. The apparatus may include pressure sensors on opposite sides of a plane for temperature compensation, a plurality of pressure sensors arrayed on the substrate, and a data acquisition system. A method of fabricating the apparatus includes a wet lithography process for patterning the piezoresistive film. A system includes a pair of gripper fingers, an actuator connected to the fingers, a robot skin apparatus positioned on one of the fingers, and an electronic unit for receiving data from the robot skin and controlling the fingers.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.