CA1246182A - Tactile sensor devices - Google Patents
Tactile sensor devicesInfo
- Publication number
- CA1246182A CA1246182A CA000497489A CA497489A CA1246182A CA 1246182 A CA1246182 A CA 1246182A CA 000497489 A CA000497489 A CA 000497489A CA 497489 A CA497489 A CA 497489A CA 1246182 A CA1246182 A CA 1246182A
- Authority
- CA
- Canada
- Prior art keywords
- sheet
- light
- elements
- contact
- fibers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
- G06F3/0421—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means by interrupting or reflecting a light beam, e.g. optical touch-screen
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
- G06F2203/04109—FTIR in optical digitiser, i.e. touch detection by frustrating the total internal reflection within an optical waveguide due to changes of optical properties or deformation at the touch location
Abstract
Abstract of the Disclosure A tactile sensing device for use in robotics and medical prosthetics includes a transparent sheet-like element and a second resilient sheet-like element positioned adjacent the first transparent element. A light detection and imaging means is positioned to observe the interface between the two elements. A light source is provided to illuminate the interior of one of the two elements. Any object pressing against the resilient element deforms the same into contact with the transparent element. Areas of contact caused by the pressing object produce a lighted area that can be detected by the light detecting means. The output from the light detecting means may be processed by a computer and an image of the contact area produced by the pressing object can be displayed on a monitor or processed to operate an electro-mechanical control.
Description
TACTILE SE~SOR DEVl~ES
B ack groun d of the I nvention ~ith the advent of sophisticated electronic circuitry, high speed solid state devices, optical techniques, and related hard~are, the problem of high S labor costs in the production of high quality, high volume industrial parts has begun to be solved. Robots utilizing these sophisticated devices and computing tools have been finding rapidly increasing use in many industries where highly repetitive tedious operations can justify the relatively high expense. Although very sophisticated by standards for robots of only a . decade or two ago, industrial robots are still in their infancv in their ability to perform fairly complicated and complex operations. Where only visual orientation is necessary, sophisticated opticaI devices, such as vidicon tubes, laser scanners, and the like, have provided practical and excellent abilities for robots to solve maneuvering and space oriented problems.
However, state-of-the-art industrial robots are severely deficient in tactile sensing means. No satisfactory, simple, efficient, low-cost means have yet been devised to serve the purpose of the human hand in its ability to provide information relating to object shape, grasping force, slipping motion, etc .
The medical profession, similarly to highly automated industries, has also made great progress in providing useful prostheses to replace missing or disabled body parts for human patients. Such prostheses utilize strong light weight materials, smaII energy conservative motors, ingenious mechanicals and ' q~
12~
life-like plastics to achieve use and function unknown until recent decades.
However, one area where a greal deal oi progress remains to be made, is in .
sensor mechanisms to replace or mimic an appendage, e. g., the human hand and foot as it relates to tactile sensing of position, pressure, slippage, etc.
5As yet no satisfactory prosthesis that can sense the above requirements has been devised, at least in a small, compact, simple form.
Many manipulative operations recluire actions that depend upon a sensing of pressure; a sensing of pressure in relation to an area, i.e., pressure distribution over a predetermined area; a sensing of the presence or absence 10of pressure over a predetermined area; the sensing of the variations in the strength of pressure in the entire area wherein pressure is being exerted;
ancl the presence or absence of slip in relation to a pressure point or pressure area . All of the above-mentioned and other phvsical qualities, w;th attendant feedback systems, have been admirably addressed and solved by 15the human hand.
From the standpoint of robotics and medical prostheses, a "human hand-like" apparatus would be an extremely important and vital apparatus essential to the advancement of the art.
rief Description of the Invention
B ack groun d of the I nvention ~ith the advent of sophisticated electronic circuitry, high speed solid state devices, optical techniques, and related hard~are, the problem of high S labor costs in the production of high quality, high volume industrial parts has begun to be solved. Robots utilizing these sophisticated devices and computing tools have been finding rapidly increasing use in many industries where highly repetitive tedious operations can justify the relatively high expense. Although very sophisticated by standards for robots of only a . decade or two ago, industrial robots are still in their infancv in their ability to perform fairly complicated and complex operations. Where only visual orientation is necessary, sophisticated opticaI devices, such as vidicon tubes, laser scanners, and the like, have provided practical and excellent abilities for robots to solve maneuvering and space oriented problems.
However, state-of-the-art industrial robots are severely deficient in tactile sensing means. No satisfactory, simple, efficient, low-cost means have yet been devised to serve the purpose of the human hand in its ability to provide information relating to object shape, grasping force, slipping motion, etc .
The medical profession, similarly to highly automated industries, has also made great progress in providing useful prostheses to replace missing or disabled body parts for human patients. Such prostheses utilize strong light weight materials, smaII energy conservative motors, ingenious mechanicals and ' q~
12~
life-like plastics to achieve use and function unknown until recent decades.
However, one area where a greal deal oi progress remains to be made, is in .
sensor mechanisms to replace or mimic an appendage, e. g., the human hand and foot as it relates to tactile sensing of position, pressure, slippage, etc.
5As yet no satisfactory prosthesis that can sense the above requirements has been devised, at least in a small, compact, simple form.
Many manipulative operations recluire actions that depend upon a sensing of pressure; a sensing of pressure in relation to an area, i.e., pressure distribution over a predetermined area; a sensing of the presence or absence 10of pressure over a predetermined area; the sensing of the variations in the strength of pressure in the entire area wherein pressure is being exerted;
ancl the presence or absence of slip in relation to a pressure point or pressure area . All of the above-mentioned and other phvsical qualities, w;th attendant feedback systems, have been admirably addressed and solved by 15the human hand.
From the standpoint of robotics and medical prostheses, a "human hand-like" apparatus would be an extremely important and vital apparatus essential to the advancement of the art.
rief Description of the Invention
2 0The present invention relates to tactile sensors for use both in industry and in medicine; or wherever there is a need for tactile sensing devices.
The invention tactile sensor is ~uite simple in concept and implementation, but extremel~ versatile in its range of applications.
More specifically the sensor comprises an element that has the property 25of conducting or "piping" electromagnetic radiation, especially in the v~sible or near visible, i . e., ultra-violet andlor infra-red light throu~h its interior volume wherein the "piped" light is internally reflected to pass continually through the interior of the light conducting elernent. As used herein the term l'light" shall include v~sible, ultra-violet and infra-red radiations. A
5 second element comprising a resilient or pressure transferring material, e. g., an elastomer or rubber-like material, is positioned adjacent to at least a portion of the exterior surface of the light conducting element.
If the resilient element, or a portion thereof, is forced against the surface of the light conducting element, the internal reflection characteristics 10 of the light conducting element are altered at the point, or areas of contact.
This compression of the resilient element ag~linst the light conductin~ element may occur when an object of some sort is placed upon the sensor, OI' when . the sensor is moved against an object, or when an ob ject is grasped by a mechanical device of which the sensor is a part.
In any event, when the resilient element is forced against, or bears up against a portion of the light conducting element's surface, the light reflection characteristics are altered, and a portion of the light passing therethrough will be reflected at such an angle that it passes out through an opposing surface rather than continuing to be "piped" as it would under 20 normal circumstances. Any light thereby passing out of the light conducting element is then detected by a suitable means, e. g., an electronic optical sensor suitable for detecting and/or recording the light signal, whether in the visible, ultra-violet or infra-red ranges, as may be appropriate. The signal detected will be indicative of the shape and size of the area where the 25 resilient element is pressed against the light conducting element's surface.
,, _ The information received from the optical sensor can then be electronically processed to provide a picture of the area on a video screen, or it may be utilized to operate or regulate electro-mechanical servo devices to control the movement of a grasping device in response to the information obtained from the tactile sensor i.e., to provide "feed back" for controlling the operation of the device. In fact, the tactile sensor would normally be an integral part of the grasping device~
In some embodiments of the sensor as described herein-after, the light conducting and resilient elements may be combined into a single element. In such embodiments, a second transparent contact element is provided to afford contact with the combined resilient light conducting element.
A large number of modifications may be made to the basic sensor as outlined above to adapt it for use in a broad range o~ applications . ~ome of these modifications and adaptations will be discussed below.
In one embodiment the present invention is directed to a tactile sensor device comprising: first sheet-like element of light conducting material having opposed sur-faces and an edge, a second sheet-like element, generally coextensive with said firs~ sheet-like element, at least one of said sheet-like elements being resiliently deform-able so that localized portions of said first and second sheet-like elements will contact each other in response to localized pressure applied to force the sheet-like elements towards each other, means for illuminating the interior of said first sheet like element through said edge thereof, light detecting means generally coextensive with the first sheet-like elements and positioned on one side thereof to detect light exiting from said first shee~-like element through one of said opposed surfaces thereof.
In another embodiment the present invention is directed to a tactile sensor comprising: a plurality of light con-ducting fibers arranged in side by side relationship, said fibers being grouped in arrays, each array having at least one fiber, the fibers of each array having their surfaces exposed at a point thereon, with the exposed sur~aces of the arrays of fibers being at predetermined positions, a resilient element adjacent said arrays of light conducting fibers and being locally deformable into and out of contact with the exposed surfaces of the light conducting arrays of fibers in resp~nse to the presence or absence, respec-tively, of localized pressure exerted by an object, means for introducing light into the ends of the fibers of said arrays, means for detecting changes in the ;ntensity of light in each of the arrays of fibers.
It is an o~ject of the invention to provide tactile sensing devices.
It is another object of the invention to provide tactile sensing devices ~or use in industrial robots.
It is another object of the invention to provide tactile sensing devices ~or use in medical prosthetics~
It is still another object of the invention to provide tactile sensing devices that include a light conducting element, a resilient element for contacting the light conducting element, and electronic light sensing means for optically determining the contact area between said light conducting element and said resilient element~
It is yet another object of the invention to provide tactile sensors that display a video image of the area where an object contacts said sensor.
-4a-~2~;~82 It is still another obiect of the invention to provide tactile sensors that vie~d electronic signals or information that can be utilized to control the motion of a robotic device.
Other objects and advantages of the invention will be apparent upon 5 review of the following specification, the drawings, and the claims appended hereto .
Brief Description of the Drawings:
, In the accompanying drawings:
Figure 1 is a schematic view of a tactile sensor illustrating the principles 10 upon which the in-rention operates.
Figure 2 is a cutaway perspective view of a sensor device of the . invention.
Figure 3 is a schematic illustration of the appearance of a contact area as viewed through the sensor device.
Figure 4 is a schematic view of an embodiment of the sensor in operation with an object in contact therewith.
Figure 5 is a schematic illustration of the appearance of the sensor contact area produced by the object in Figure 4.
Figure 6 is a schematic view of an embodiment of the sensor in operation 2 o with a different object in contact therewith .
Figure 7 is a schematic illustration of the appearance of the sensor contact area produced by the object in Figure 6.
Figure 8 is an exploded view of an embodiment of the sensor.
Figure 9 is a schematic view of yet another embodiment of the sensor.
; 25 Figure 10 is a schematic view of still another embodiment of the sensor.
4 ~
. .,J
~ g32 Figure 11 is a schematic view of another embodiment.
Figure 12 ;s a schematic view of a sensor utilizing the embodiment of Figure 11 Figure 13 is a cut-awa~r perspective view of a sensor especially adapted 5 to detect and display shear forces applied to the sensor surface.
Figure 14 is a schematic view of a variation in the sensor device wherein light conducting and resiliency are combined in a ~ingle element.
..
Detailed Description of the Invention:
The invention comprises tactile sensing devices wherein an object 10 grasped or held will produce a detectable image that directly reflects the object's pressure and pressure pattern upon the device. The image is detected by suitable video camera elements and then transmitted for further processing to give direction to a robotic mechanism. This invention is only concerned with the sensor and not with the processing of the data and its 15 use in directing robotic mechanisms which can be accomplished by means well known in the art.
As used herein "tactile sensing" or "tactile sensor" refers to the touching or grasping of any object and the device or instrumentality that makes the touching or grasping available as visual information that can be 20 further processed for controlling touching or grasping devices. The tactile sensor replicates visuall~ much of the same information that is revealed when an object is touched or grasped by a human hand.
The basic elements of the tactile sensor device include a light conducting element, a resilient element adjacent and co-extensive the light conducting 25 element, and a light detecting and imaging device adapted to view the light conducting element and the resilient element Irom a position where anv contact between the two elements can be detected.
The basic elements of the tactile sensor and its principle of operation mav be understood by reference to Figure 1 of the dra~ing. Specifically, the tactile sensor 11 comprises a light conducting element 12 which has an edge thereof illuminated by a light source 13. Light source 13 is only shown schematically, but it may be simply natural light, or more usually a suitable incandescent or fluorescent lamp.
I.ight conducting element 12 may be of any suitable configuration as will be more fully described hereafter, but for the purposes of illustration may be of a sheetlike shape. Positioned adjacent one surface 16 of the sheetlike light conducting element is a resilient element 14. When contacted by an object - (see for instance, Figures 4 and 6), a portion of the resilient element 14 will f be pressed against surface 16 as shown at area 17.
Positioned adjacent the opposite surface 18 of element 12 is a light detecting and imaging device 19 (shown schematically in Figure 1 as an eye).
Light conducting element 12 may be fabricated from any number of transparent or semi-transparent materials that have the ability to confine lightwithin their volumes. Materials such as organic polymers like the acrylates or methacrylates, or glass fibers utilized in fiber optics, are several illustrations of suitable materials. These materials have the property of reflecting any internal light from their surfaces whereby the light is confined or piped within the volume of the light conducting material. In any event, element 12 is fabricated from some such light conducting or piping material.
2 5 Where desirable in some applicstions of the sensor, contrast at the contact areas between the light conducting element and the resilient element ~2~6~æ
can be enhanced by fabricating the li~ht conducting element from plastic materials having dye, especially fluorescent dve, impregnated therein. Such .
dye impregnated plastic will provide greater uniformitv of illumination throughout its volume. Fluorescent dye impregnated sheet material is commerciallv available and may comprise methyl methacrylate impregnated with a fluorescein or fluorescein-type dye. Such dye impregnated plastic sheet is readily excited by visible light. Most of the light emitted by the excited dye molecules is trapped within the confines of the sheet and will produce lighted areas of good contrast when the resilient element is pressed against it as described herein. This means of enhancing the illumination provides particularly uniform lighting over a lar ge area of the light conducting element .
Resilient element 14 nay be fabricated from any resilient, deformable material. Any elastomer, rubberlike, or skinlike material is suitable. Silicone rubbers, natural rubbers, or synthetic rubbers, or soft resilient organic polymers, such as polyethylene or polyurethanes serve this purpose quite well. The prime requirements for such resilient elements are compressibility, resiliency, toughness, and preferably, a light color such as white or yellow, to maximize the reflection of light from contact area 17.
~esilient element 14 essentiall~ forms a "skin" covering one surf~ce of th.e light conducting element 12. ~owever as hereinafter described the resilient element 14 is not normally in contact with light conducting element 12; or if normally in contact, then only at pre-selected limited areas as will be hereafter explained.
Light detecting and imaging device 19 may be any device that is capable of viewing a light image and recording or transmitting the same for further ~24~ 32 processing or use. Normally for the purpose herein the smaller and more compact the device is, the better. One solid state electro-optical device that is useful for the present purpose is known as the "OpticRAl~q" produced by l~qicron Technology, Inc., of 13oise, Idaho. The active element of the 5 OpticRAM is a silicon dynamic random-access memory (RAM) chip of small dimensions perhaps 7/16 inch by 3/16 inch by 1/64 inch. Its protective package, usually fitted with a transparent cover, measures approximately 3/4 inch by 3/8 inch by 3116 inch. It is composed of 65,536 indi~ridual image sensing elements or pixels. The p;xels are organi~ed into two rectangular arrays of 128x256 pixels each. Each array is separated by an optical dead zone of about 25 elements in width. The arrays are covered by an optically clear window and a number of electrical connectors on the back permit connection with a computer and video display. Any light image viewed by the OpticRAM generates a digital representation thereof. This digiti~ed 15 representation is transmitted via suitable software into a computer and from thence to a display on a video screen. Any other similar electro-optical imaging device such as a charge-coupled imager may be used as the light detecting and imaging device 19.
In operation, and as schematically shown in Figure 1, the light rays 21 20 from light source 13 enter an edge of light conducting element 12. The rays 21 are normally channelled through element 12 by internal reflection from surfaces 16 and 18. However, those rays reflected at the resilient element contact area 17 have their reflection angles altered whereby at least a portion thereof emerge frorn surface 18 and impinge upon light detecting and imaging 25 device I9. Thus device I9 can detect an area, or areas, wherein resilient element 14 is in contact with light conducting element 12.
9 _ * Trade Ma rk ~æ~
It will be understood that the Figures are schematic illustrations.
Variations in illuminating the light conducting element are contemplated.
Thus the light source 13 can be located at a position normal to the general plane of element 21, and if the external edge is beveled and silvered, light 5 from the source 21 can be directed into the interior.
Figure 3 schematically illustrates the type of image produced by the above described effect. As seen by device 19, the area of contact 17a will appear as a bright aI'ea in contrast to the uncontacted area of element 12.
The bright area of contact 17a is indicative of the shape of a pressure area ~-0 exerted by any object resting upon or grasped by the tactile sensor. For in.stance, as illustrated in Figures 4 and 5, a round object 22 will produce a round contact area 17b; whereas an angular object 23 as shown in Figure 6 - will produce an angular contact area 17c as shown in Figure 7.
It will also be apparent that due to the resilient nature of element 14, 15 the harder an object is pressed against the sensor 11, the larger will be the characteristic light area viewed by image detecting device 19; and vice-versa.
Additionally, it will also be apparent that light areas 17a, b, c, will define the exact position in which the object is contacting the sensor; that is, as the object moves about on the resilient elemerlt, the position of light area 20 17a, b, c, will move ;n correspondence thereto.
Slippage of a grasped object is also detected by the sensor. If an object begins to slip across the viewed area, light or contact area 17 will begin to change position and move across the viewed area or its representation on a displav screen. This will warn that the object is slipping 25 and suitable measures can be taken to tighten the grasp of the e]ectro-mechanical mechanism in which the sensor is being used.
The invention tactile sensor is ~uite simple in concept and implementation, but extremel~ versatile in its range of applications.
More specifically the sensor comprises an element that has the property 25of conducting or "piping" electromagnetic radiation, especially in the v~sible or near visible, i . e., ultra-violet andlor infra-red light throu~h its interior volume wherein the "piped" light is internally reflected to pass continually through the interior of the light conducting elernent. As used herein the term l'light" shall include v~sible, ultra-violet and infra-red radiations. A
5 second element comprising a resilient or pressure transferring material, e. g., an elastomer or rubber-like material, is positioned adjacent to at least a portion of the exterior surface of the light conducting element.
If the resilient element, or a portion thereof, is forced against the surface of the light conducting element, the internal reflection characteristics 10 of the light conducting element are altered at the point, or areas of contact.
This compression of the resilient element ag~linst the light conductin~ element may occur when an object of some sort is placed upon the sensor, OI' when . the sensor is moved against an object, or when an ob ject is grasped by a mechanical device of which the sensor is a part.
In any event, when the resilient element is forced against, or bears up against a portion of the light conducting element's surface, the light reflection characteristics are altered, and a portion of the light passing therethrough will be reflected at such an angle that it passes out through an opposing surface rather than continuing to be "piped" as it would under 20 normal circumstances. Any light thereby passing out of the light conducting element is then detected by a suitable means, e. g., an electronic optical sensor suitable for detecting and/or recording the light signal, whether in the visible, ultra-violet or infra-red ranges, as may be appropriate. The signal detected will be indicative of the shape and size of the area where the 25 resilient element is pressed against the light conducting element's surface.
,, _ The information received from the optical sensor can then be electronically processed to provide a picture of the area on a video screen, or it may be utilized to operate or regulate electro-mechanical servo devices to control the movement of a grasping device in response to the information obtained from the tactile sensor i.e., to provide "feed back" for controlling the operation of the device. In fact, the tactile sensor would normally be an integral part of the grasping device~
In some embodiments of the sensor as described herein-after, the light conducting and resilient elements may be combined into a single element. In such embodiments, a second transparent contact element is provided to afford contact with the combined resilient light conducting element.
A large number of modifications may be made to the basic sensor as outlined above to adapt it for use in a broad range o~ applications . ~ome of these modifications and adaptations will be discussed below.
In one embodiment the present invention is directed to a tactile sensor device comprising: first sheet-like element of light conducting material having opposed sur-faces and an edge, a second sheet-like element, generally coextensive with said firs~ sheet-like element, at least one of said sheet-like elements being resiliently deform-able so that localized portions of said first and second sheet-like elements will contact each other in response to localized pressure applied to force the sheet-like elements towards each other, means for illuminating the interior of said first sheet like element through said edge thereof, light detecting means generally coextensive with the first sheet-like elements and positioned on one side thereof to detect light exiting from said first shee~-like element through one of said opposed surfaces thereof.
In another embodiment the present invention is directed to a tactile sensor comprising: a plurality of light con-ducting fibers arranged in side by side relationship, said fibers being grouped in arrays, each array having at least one fiber, the fibers of each array having their surfaces exposed at a point thereon, with the exposed sur~aces of the arrays of fibers being at predetermined positions, a resilient element adjacent said arrays of light conducting fibers and being locally deformable into and out of contact with the exposed surfaces of the light conducting arrays of fibers in resp~nse to the presence or absence, respec-tively, of localized pressure exerted by an object, means for introducing light into the ends of the fibers of said arrays, means for detecting changes in the ;ntensity of light in each of the arrays of fibers.
It is an o~ject of the invention to provide tactile sensing devices.
It is another object of the invention to provide tactile sensing devices ~or use in industrial robots.
It is another object of the invention to provide tactile sensing devices ~or use in medical prosthetics~
It is still another object of the invention to provide tactile sensing devices that include a light conducting element, a resilient element for contacting the light conducting element, and electronic light sensing means for optically determining the contact area between said light conducting element and said resilient element~
It is yet another object of the invention to provide tactile sensors that display a video image of the area where an object contacts said sensor.
-4a-~2~;~82 It is still another obiect of the invention to provide tactile sensors that vie~d electronic signals or information that can be utilized to control the motion of a robotic device.
Other objects and advantages of the invention will be apparent upon 5 review of the following specification, the drawings, and the claims appended hereto .
Brief Description of the Drawings:
, In the accompanying drawings:
Figure 1 is a schematic view of a tactile sensor illustrating the principles 10 upon which the in-rention operates.
Figure 2 is a cutaway perspective view of a sensor device of the . invention.
Figure 3 is a schematic illustration of the appearance of a contact area as viewed through the sensor device.
Figure 4 is a schematic view of an embodiment of the sensor in operation with an object in contact therewith.
Figure 5 is a schematic illustration of the appearance of the sensor contact area produced by the object in Figure 4.
Figure 6 is a schematic view of an embodiment of the sensor in operation 2 o with a different object in contact therewith .
Figure 7 is a schematic illustration of the appearance of the sensor contact area produced by the object in Figure 6.
Figure 8 is an exploded view of an embodiment of the sensor.
Figure 9 is a schematic view of yet another embodiment of the sensor.
; 25 Figure 10 is a schematic view of still another embodiment of the sensor.
4 ~
. .,J
~ g32 Figure 11 is a schematic view of another embodiment.
Figure 12 ;s a schematic view of a sensor utilizing the embodiment of Figure 11 Figure 13 is a cut-awa~r perspective view of a sensor especially adapted 5 to detect and display shear forces applied to the sensor surface.
Figure 14 is a schematic view of a variation in the sensor device wherein light conducting and resiliency are combined in a ~ingle element.
..
Detailed Description of the Invention:
The invention comprises tactile sensing devices wherein an object 10 grasped or held will produce a detectable image that directly reflects the object's pressure and pressure pattern upon the device. The image is detected by suitable video camera elements and then transmitted for further processing to give direction to a robotic mechanism. This invention is only concerned with the sensor and not with the processing of the data and its 15 use in directing robotic mechanisms which can be accomplished by means well known in the art.
As used herein "tactile sensing" or "tactile sensor" refers to the touching or grasping of any object and the device or instrumentality that makes the touching or grasping available as visual information that can be 20 further processed for controlling touching or grasping devices. The tactile sensor replicates visuall~ much of the same information that is revealed when an object is touched or grasped by a human hand.
The basic elements of the tactile sensor device include a light conducting element, a resilient element adjacent and co-extensive the light conducting 25 element, and a light detecting and imaging device adapted to view the light conducting element and the resilient element Irom a position where anv contact between the two elements can be detected.
The basic elements of the tactile sensor and its principle of operation mav be understood by reference to Figure 1 of the dra~ing. Specifically, the tactile sensor 11 comprises a light conducting element 12 which has an edge thereof illuminated by a light source 13. Light source 13 is only shown schematically, but it may be simply natural light, or more usually a suitable incandescent or fluorescent lamp.
I.ight conducting element 12 may be of any suitable configuration as will be more fully described hereafter, but for the purposes of illustration may be of a sheetlike shape. Positioned adjacent one surface 16 of the sheetlike light conducting element is a resilient element 14. When contacted by an object - (see for instance, Figures 4 and 6), a portion of the resilient element 14 will f be pressed against surface 16 as shown at area 17.
Positioned adjacent the opposite surface 18 of element 12 is a light detecting and imaging device 19 (shown schematically in Figure 1 as an eye).
Light conducting element 12 may be fabricated from any number of transparent or semi-transparent materials that have the ability to confine lightwithin their volumes. Materials such as organic polymers like the acrylates or methacrylates, or glass fibers utilized in fiber optics, are several illustrations of suitable materials. These materials have the property of reflecting any internal light from their surfaces whereby the light is confined or piped within the volume of the light conducting material. In any event, element 12 is fabricated from some such light conducting or piping material.
2 5 Where desirable in some applicstions of the sensor, contrast at the contact areas between the light conducting element and the resilient element ~2~6~æ
can be enhanced by fabricating the li~ht conducting element from plastic materials having dye, especially fluorescent dve, impregnated therein. Such .
dye impregnated plastic will provide greater uniformitv of illumination throughout its volume. Fluorescent dye impregnated sheet material is commerciallv available and may comprise methyl methacrylate impregnated with a fluorescein or fluorescein-type dye. Such dye impregnated plastic sheet is readily excited by visible light. Most of the light emitted by the excited dye molecules is trapped within the confines of the sheet and will produce lighted areas of good contrast when the resilient element is pressed against it as described herein. This means of enhancing the illumination provides particularly uniform lighting over a lar ge area of the light conducting element .
Resilient element 14 nay be fabricated from any resilient, deformable material. Any elastomer, rubberlike, or skinlike material is suitable. Silicone rubbers, natural rubbers, or synthetic rubbers, or soft resilient organic polymers, such as polyethylene or polyurethanes serve this purpose quite well. The prime requirements for such resilient elements are compressibility, resiliency, toughness, and preferably, a light color such as white or yellow, to maximize the reflection of light from contact area 17.
~esilient element 14 essentiall~ forms a "skin" covering one surf~ce of th.e light conducting element 12. ~owever as hereinafter described the resilient element 14 is not normally in contact with light conducting element 12; or if normally in contact, then only at pre-selected limited areas as will be hereafter explained.
Light detecting and imaging device 19 may be any device that is capable of viewing a light image and recording or transmitting the same for further ~24~ 32 processing or use. Normally for the purpose herein the smaller and more compact the device is, the better. One solid state electro-optical device that is useful for the present purpose is known as the "OpticRAl~q" produced by l~qicron Technology, Inc., of 13oise, Idaho. The active element of the 5 OpticRAM is a silicon dynamic random-access memory (RAM) chip of small dimensions perhaps 7/16 inch by 3/16 inch by 1/64 inch. Its protective package, usually fitted with a transparent cover, measures approximately 3/4 inch by 3/8 inch by 3116 inch. It is composed of 65,536 indi~ridual image sensing elements or pixels. The p;xels are organi~ed into two rectangular arrays of 128x256 pixels each. Each array is separated by an optical dead zone of about 25 elements in width. The arrays are covered by an optically clear window and a number of electrical connectors on the back permit connection with a computer and video display. Any light image viewed by the OpticRAM generates a digital representation thereof. This digiti~ed 15 representation is transmitted via suitable software into a computer and from thence to a display on a video screen. Any other similar electro-optical imaging device such as a charge-coupled imager may be used as the light detecting and imaging device 19.
In operation, and as schematically shown in Figure 1, the light rays 21 20 from light source 13 enter an edge of light conducting element 12. The rays 21 are normally channelled through element 12 by internal reflection from surfaces 16 and 18. However, those rays reflected at the resilient element contact area 17 have their reflection angles altered whereby at least a portion thereof emerge frorn surface 18 and impinge upon light detecting and imaging 25 device I9. Thus device I9 can detect an area, or areas, wherein resilient element 14 is in contact with light conducting element 12.
9 _ * Trade Ma rk ~æ~
It will be understood that the Figures are schematic illustrations.
Variations in illuminating the light conducting element are contemplated.
Thus the light source 13 can be located at a position normal to the general plane of element 21, and if the external edge is beveled and silvered, light 5 from the source 21 can be directed into the interior.
Figure 3 schematically illustrates the type of image produced by the above described effect. As seen by device 19, the area of contact 17a will appear as a bright aI'ea in contrast to the uncontacted area of element 12.
The bright area of contact 17a is indicative of the shape of a pressure area ~-0 exerted by any object resting upon or grasped by the tactile sensor. For in.stance, as illustrated in Figures 4 and 5, a round object 22 will produce a round contact area 17b; whereas an angular object 23 as shown in Figure 6 - will produce an angular contact area 17c as shown in Figure 7.
It will also be apparent that due to the resilient nature of element 14, 15 the harder an object is pressed against the sensor 11, the larger will be the characteristic light area viewed by image detecting device 19; and vice-versa.
Additionally, it will also be apparent that light areas 17a, b, c, will define the exact position in which the object is contacting the sensor; that is, as the object moves about on the resilient elemerlt, the position of light area 20 17a, b, c, will move ;n correspondence thereto.
Slippage of a grasped object is also detected by the sensor. If an object begins to slip across the viewed area, light or contact area 17 will begin to change position and move across the viewed area or its representation on a displav screen. This will warn that the object is slipping 25 and suitable measures can be taken to tighten the grasp of the e]ectro-mechanical mechanism in which the sensor is being used.
3~2~L6~2 Heretofore the most simple embodiment of the tactile sensor has been described. Upon further consideration: it will be apparent that the resilient element 14, unless restrained, mav randomlv contact the light conducting element 12 even in the absence of external pressure. This is possible in view 5 of the resilient nature o~ element 14, its own weight and elasticity. Random contact of the light conducting element 12 is to be avoided since such contact may give rise to spurious or false contact areas. The production of such spurious or false signals is avoided by introducing a spacer between the resilient element 14 and light conducting element 12; or by building an 10 effective spacer means directly into the resilient element 14 or light conducting element 12.
More specifically and as shown in Figure 8, a tactile sensor 24 comprises a light conducting element 26 and a resilient element 27, like those previously described. Interposed between the two elements is a thin spacer 28. Spacer 28 is provided with a plurality of holes or apertures 29 arrayed over the entire surface thereof. Spacer 28 is fabricated from any dimensionally stable, thin sheet material such as paper, metal, plastic or the like. Spacer 28 is quite thin relative to the thickness of elements 26 and 27, being of the order of perhaps 2-5 mils. The surface of spacer 28 adjacent light conducting 20 element 26 is non-sticky and preferabl~ has a very finely pebbled or fibrous texture (as in paper) so that contact with element 26 is minimized and does not result in a light generating area.
Since spacer 28 is interposed between light conducting element 26 and resilient element 27, no contact between the two elements can occur unless 25 pressure is brought to bear against resilient element 27. If an object is forced upwards against r esilient element 27, those portions overlying holes 29 .
will be forced therethrough and into corltact with element 26. Where such contact occurs light generating areas will develop. Should the pressure be released, the resilient material will withdraw from the surface of element "6 and holes 29. Therefore, spacer 28 removes the possibility of spurious 5signals being generated between the two elements, 26 and 27. Spacer 28 also permits use of a plane sheet of resilient material rather than a contoured sheet as would be necessary in the embodiment illustrated in Figure 10, below .
As illustrated in Figure 9, the spacer may take many forms. In ~igure 109, the spacer 28a is punched out to form a grid-like structure wherein the grid serves to separate light conducting element 26a from resilient element 27a. Spacer 28a in Fig~lre 9 perorms the same function as does Spacer 28 in Figure 8. With urther reference to Figure 9, it should be noted that the tactile sensor can be formed into a curved surface. Such curved surface can 15simulate the curved grasping surfaces of a human finger, or any other desired curved grasping surface. Any such curved tactile sensor will still remain operational]y functional so long as suitable means such as spacer 28 or 28a, are provided to separate the light carrying and resilient elements.
Figure 2 is a perspective cutaway view of an assembled tactile sensor 20unit. As shown therein light detecting and imaging device 19 is placed closely adjacent the back surface of light conducting element 12. Connectors lead from device 19 to a computer (not shown). A spacer 28, as previously described, is placed against the opposite surface of element 12 and serves to separate resilient e}ement 14 therefrom. Apertures or holes 29 are arrayed in 25spacer 28 to permit resilient element 14 to press against light conducting ~æ~
element 12 when an object (not shown) bears against any area of resilient element 14.
Figure 10 illustrates another embodiment of the tactile sensor. In this embodiment, the sensor 29 comprises a light conducting element 31 identical with those previously described. A resilient element 32 is also provided, however it differs from the resilient elements previously described in that a plurality of bumps or projections 33 are integrally formed on the surface 34 and .facing the light conducting element. Burnps 33 may be in any form suitable for spacing the surface 34 a slight distance away from the adjacent surface of element 31 when the two element are brought into contact.
The points at which bumps 33 contact element 31 will produce a regular pattern of small light areas as previously described, however the major portion of surface 34 will remain out of contact. If, however, an object is placed upon, or is grasped by the tactile sensor, a number of the bumps corresponding to the pressure areas will be compressed allowing the contiguous portions of surface 34 to contact light conducting element 31. As previously described, such pressure contact areas will produce light areas corresponding to the pressure areas. Larger light areas will then be visib]e to the light detecting and imaging device (not shown) positioned above element 31.
Thus the embodiment shown in Figure 1~ is capable of yielding the same type of information as the embodiments of Figure 8 and 9, without the neces-sity of a separate spacer interposed between the light conducting element and resilient element.
With respect to the embodiment of Figure 10, it will be apparent that the lower surface 35 of light conducting element 31 may be provided with .
protruding bumps, while the upper suriace 34 of resilient element 32 may be smooth , i . e ., the configurations of light conducting element 31 and resilient element 32 are reversed. The advantage of such an arrangement in this embodiment mav be economical. Specifically, with use, the resilient element 5 32, being the exterior member of the sensor j will tend to receive greater wear from contact with external objects. It may become abraded, torn etc., necessitating replacement. In such event, a simple planar sheet of resilient material will be much less expensive than a --contoured resilient sheet.
Therefore the cost of replacement will be less.
It will be apparent that a large number oE modifications may be made to the tactile sensor as previously described to ensure the separation of the resilient element from the light conducting element in the unloaded mode.
- Figures 2, 8, 9, and 10 illustrate several methods of ensuring separation, however, variations thereof are contemplated as being part of this invention.
The sensors of the invention are also capable of the detection and display of forces ( shear) applied tangentially to the surface of the resilient element. For instance, with reference to Figure 10, a shear force applied to the lower surface of resilient element 32 will cause the points of contact wi th light conducting element 31 to be translated in the direction of the force.
20 This movement of the contact points in a transverse direction can be detected by the imaging device. In addition, the contact areas will be oval in configuration rather than circular as would be the case when force is applied normally to the surface of elernent 32. The long axis of any such oval contact areas will be parallel to the direction in which the transverse ~orce is 25 applied to element 32.
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g32 Figure 13 illustrates an embodiment of the sensor especiallv adapted to detect shear forces. As shown therein a light conducting element 51 overlies a resilient element 52. Resilient element 52 includes a plurality of recesses or cells 53 which may be generally rectangular or sc~uare in the plane parallel to 5 the sensor. Each recess 53 includes a rounded nipple or projection 54 centered within the recess, and extending upwardly from the recess bottom to a height co-extensive with, or slightly higher than the upper sur~ace 56 of resilient eiement 52. The upper surface 56 of element 52 is affixed, by means of an adhesive to the under surface of light conducting element 51. However 10 the tips of nipples 54, although in contact with element 51, are not adhered thereto, but are free to move across the undersurface.
Application of transverse force on the underside of resilient element 52 - will cause the contact areas 57 between the tips of nipples 5g and the light conducting element 51 to move relative to the contact areas 58 between the 15 upper surface of resilient element 52 and light conducting element 51. Thus any transverse force applied to the resilient element will be detectable from observing the movement of areas 57 relative to the fixed areas 58.
It will be appreciated that in some applications it is useful to provide open viewing areas through the sensor light conducting element and resilient 20 element. That is, portions of the sensor elements may be removed so that the light detecting element has at least a portion of its view unimpeded by the light conducting element and resilient element. In such open areas the light sensitive pixels of the light sensitive element will be available for conventionally viewing objects which are being gripped, or are to be gripped 25 by the robotic device. Thus the robotic device can be used in a simple viewing mode concurrently with the tactile sensing elements.
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The tactile sensors can also be provided in a flexible form for use, for instance, as a ~'glove" covering a mechanical "hand" prosthesis; or as a sensor "glove" adapted to fit over a hand that has been nerve damaged.
Figure 11 schematicallv illustrates in brief detail a flexible embodiment of the tactile sensor. As illustrated therein a plurality of light conducting fibers 36 ~like those utilized in light fiber optics) comprise the light conduct-ing element previously described. The light conducting fibers are arrayed side by side in a flat sheet 37 which mav be as wide and as long as desired.
A light source 38 illuminates the fibers at one end thereof. The other ends of the fibers may be silvered to reflect the light back in the direction of the source. A light detecting and imag~ng device 39 ~depicted schematically as an eye) is positioned at the light entry end of the fibers to observe the light . reflected back from the silvered ends.
A resilient element or "skin'7 41 is positioned across the fiber array 37 such that when depressed by a grasped object, at least a portion of the resilient element will press against the fiber array. The contact area with the fibers alters the reflection characteristics of the fibers and the reflectedlight signal is thereby altered to indicate to the light detecting device 39 that a portion of the resilient element 41 is pressed against the fiber array 37.
It will be appreciated that the fibers 36 and the array 37 thereof are quite flexible and may be bent or folded into desired configurations. The flexible tactile sensor is suited for application to a hand prosthesis where theflexible sensors can be arranged to provide tactile information in the fingers of a glove-like covering for an electro-mechanical hand or nerve damaged 2 5 human hand .
:, ~æ~ 2 Figure 12 illustrates the manner in ~hich a pluralitv of flexible sensors can pro~ride tactile information at various positions over a grasping prosthetic surface. As shown therein, a number of light fiber arrays 42 are encased in a flexible enclosure 93. Enclosure 43 may be any suitable fiexible material S such as silicone rubber, rubber-like polymers, etc.
A number of openings 44 are provided at predetermined positions over the surface of enclosure 43. These openings expose a respective array of the light fibers 42. In the event .~he light fibers are clad with a light reflective or protective coating, said coating is removed where the fibers are exposed at 10 openings ~4.
A flexible skin ~6 of resilient plastic is provided to cover the enclosure 43 and overlie openings ~4. If an object grasped by the prosthesis underlies .one of the openings 44, a portion of skin 46 will be forced through the corresponding opening and against the exposed fiber array. Contact of the 15 skin against the array will alter the reflected light signal passing through the array and light detecting device 39 will reveal that the skin 46 has been forced against the array at a particular point over the surface of the prothe-sis. Thus it can be determined at exactly what point, or poin.ts, over the prosthesis surface, contact is being made with a grasped object. By such an 20 arrangement, the tactile sensors of the present invention can simulate the nerve endings and tactile information of a human hand, for instance.
In the embodiments of the tactile sensor heretofore discussed, a relatively rigid element is utilized as the light conducting member, and a resilient element is utilized as the outer tactile contact. It is possible 25 however to combine the light conducting function into the outer resilient element and utilize a transparent backing or contact member to define tactile . .
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contact areas. This variation of the tactile sensor will be apparent from a review of Figure 14 of the drawing.
As illustrated in Figure 14, a light source 61 illuminates a resilient and light conducting element 62. Element 62 is of an essentially sheet-like 5 configuration. It is preferably f~bricated from a clear, transparent rubbery material such as silicone polymers, or silicone methacrylate co-polymers.
Such materials have resilient rubbery properties but also effectively transmit light therethrough. .~
I,ight rays 63 pass into element 62 from the light source 61 and are 10 internally reflected throughout the volume thereof. A second contact element 64 is positional adjacent to and coextensively with element 62. Contact element 64 is provided with a plurality of bumps or protuberances 66 on the surface thereof irnmediately adjacent element 62. The protuberances 66 serve to position the main portion of element 64 at a slight distance from element 62.
Any points of contact 67 between element 62 and element 64 will interrupt the internal reflection of light within element 62 and permit a portion thereof to pass into contact element 64. Any of such light passing into contact element 64 at an angle normal to the upper surface 68 thereof w~ll 2 0 pass through and be detected by a light detecting device 69 (herein schematically denoted by an eye).
It will be readily apparent that a force applied normally to resilient element 62 will force portions thereof between protuberances 66 up against contact element 64 to thereby increase the area wherein light is transmitted 2 5 through contact element 64 to detector 69.
~æ~ 2 . Other applications and arrangements the tactile sensors of the invention will become readily apparent to those havin g need OI tactile information in ~..
robotic devices. All such variations and applications are intended to be encompassed by this disclosure.
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More specifically and as shown in Figure 8, a tactile sensor 24 comprises a light conducting element 26 and a resilient element 27, like those previously described. Interposed between the two elements is a thin spacer 28. Spacer 28 is provided with a plurality of holes or apertures 29 arrayed over the entire surface thereof. Spacer 28 is fabricated from any dimensionally stable, thin sheet material such as paper, metal, plastic or the like. Spacer 28 is quite thin relative to the thickness of elements 26 and 27, being of the order of perhaps 2-5 mils. The surface of spacer 28 adjacent light conducting 20 element 26 is non-sticky and preferabl~ has a very finely pebbled or fibrous texture (as in paper) so that contact with element 26 is minimized and does not result in a light generating area.
Since spacer 28 is interposed between light conducting element 26 and resilient element 27, no contact between the two elements can occur unless 25 pressure is brought to bear against resilient element 27. If an object is forced upwards against r esilient element 27, those portions overlying holes 29 .
will be forced therethrough and into corltact with element 26. Where such contact occurs light generating areas will develop. Should the pressure be released, the resilient material will withdraw from the surface of element "6 and holes 29. Therefore, spacer 28 removes the possibility of spurious 5signals being generated between the two elements, 26 and 27. Spacer 28 also permits use of a plane sheet of resilient material rather than a contoured sheet as would be necessary in the embodiment illustrated in Figure 10, below .
As illustrated in Figure 9, the spacer may take many forms. In ~igure 109, the spacer 28a is punched out to form a grid-like structure wherein the grid serves to separate light conducting element 26a from resilient element 27a. Spacer 28a in Fig~lre 9 perorms the same function as does Spacer 28 in Figure 8. With urther reference to Figure 9, it should be noted that the tactile sensor can be formed into a curved surface. Such curved surface can 15simulate the curved grasping surfaces of a human finger, or any other desired curved grasping surface. Any such curved tactile sensor will still remain operational]y functional so long as suitable means such as spacer 28 or 28a, are provided to separate the light carrying and resilient elements.
Figure 2 is a perspective cutaway view of an assembled tactile sensor 20unit. As shown therein light detecting and imaging device 19 is placed closely adjacent the back surface of light conducting element 12. Connectors lead from device 19 to a computer (not shown). A spacer 28, as previously described, is placed against the opposite surface of element 12 and serves to separate resilient e}ement 14 therefrom. Apertures or holes 29 are arrayed in 25spacer 28 to permit resilient element 14 to press against light conducting ~æ~
element 12 when an object (not shown) bears against any area of resilient element 14.
Figure 10 illustrates another embodiment of the tactile sensor. In this embodiment, the sensor 29 comprises a light conducting element 31 identical with those previously described. A resilient element 32 is also provided, however it differs from the resilient elements previously described in that a plurality of bumps or projections 33 are integrally formed on the surface 34 and .facing the light conducting element. Burnps 33 may be in any form suitable for spacing the surface 34 a slight distance away from the adjacent surface of element 31 when the two element are brought into contact.
The points at which bumps 33 contact element 31 will produce a regular pattern of small light areas as previously described, however the major portion of surface 34 will remain out of contact. If, however, an object is placed upon, or is grasped by the tactile sensor, a number of the bumps corresponding to the pressure areas will be compressed allowing the contiguous portions of surface 34 to contact light conducting element 31. As previously described, such pressure contact areas will produce light areas corresponding to the pressure areas. Larger light areas will then be visib]e to the light detecting and imaging device (not shown) positioned above element 31.
Thus the embodiment shown in Figure 1~ is capable of yielding the same type of information as the embodiments of Figure 8 and 9, without the neces-sity of a separate spacer interposed between the light conducting element and resilient element.
With respect to the embodiment of Figure 10, it will be apparent that the lower surface 35 of light conducting element 31 may be provided with .
protruding bumps, while the upper suriace 34 of resilient element 32 may be smooth , i . e ., the configurations of light conducting element 31 and resilient element 32 are reversed. The advantage of such an arrangement in this embodiment mav be economical. Specifically, with use, the resilient element 5 32, being the exterior member of the sensor j will tend to receive greater wear from contact with external objects. It may become abraded, torn etc., necessitating replacement. In such event, a simple planar sheet of resilient material will be much less expensive than a --contoured resilient sheet.
Therefore the cost of replacement will be less.
It will be apparent that a large number oE modifications may be made to the tactile sensor as previously described to ensure the separation of the resilient element from the light conducting element in the unloaded mode.
- Figures 2, 8, 9, and 10 illustrate several methods of ensuring separation, however, variations thereof are contemplated as being part of this invention.
The sensors of the invention are also capable of the detection and display of forces ( shear) applied tangentially to the surface of the resilient element. For instance, with reference to Figure 10, a shear force applied to the lower surface of resilient element 32 will cause the points of contact wi th light conducting element 31 to be translated in the direction of the force.
20 This movement of the contact points in a transverse direction can be detected by the imaging device. In addition, the contact areas will be oval in configuration rather than circular as would be the case when force is applied normally to the surface of elernent 32. The long axis of any such oval contact areas will be parallel to the direction in which the transverse ~orce is 25 applied to element 32.
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.... . . . ..
g32 Figure 13 illustrates an embodiment of the sensor especiallv adapted to detect shear forces. As shown therein a light conducting element 51 overlies a resilient element 52. Resilient element 52 includes a plurality of recesses or cells 53 which may be generally rectangular or sc~uare in the plane parallel to 5 the sensor. Each recess 53 includes a rounded nipple or projection 54 centered within the recess, and extending upwardly from the recess bottom to a height co-extensive with, or slightly higher than the upper sur~ace 56 of resilient eiement 52. The upper surface 56 of element 52 is affixed, by means of an adhesive to the under surface of light conducting element 51. However 10 the tips of nipples 54, although in contact with element 51, are not adhered thereto, but are free to move across the undersurface.
Application of transverse force on the underside of resilient element 52 - will cause the contact areas 57 between the tips of nipples 5g and the light conducting element 51 to move relative to the contact areas 58 between the 15 upper surface of resilient element 52 and light conducting element 51. Thus any transverse force applied to the resilient element will be detectable from observing the movement of areas 57 relative to the fixed areas 58.
It will be appreciated that in some applications it is useful to provide open viewing areas through the sensor light conducting element and resilient 20 element. That is, portions of the sensor elements may be removed so that the light detecting element has at least a portion of its view unimpeded by the light conducting element and resilient element. In such open areas the light sensitive pixels of the light sensitive element will be available for conventionally viewing objects which are being gripped, or are to be gripped 25 by the robotic device. Thus the robotic device can be used in a simple viewing mode concurrently with the tactile sensing elements.
.. . .. . .. .. . .
~2~6~ ~
The tactile sensors can also be provided in a flexible form for use, for instance, as a ~'glove" covering a mechanical "hand" prosthesis; or as a sensor "glove" adapted to fit over a hand that has been nerve damaged.
Figure 11 schematicallv illustrates in brief detail a flexible embodiment of the tactile sensor. As illustrated therein a plurality of light conducting fibers 36 ~like those utilized in light fiber optics) comprise the light conduct-ing element previously described. The light conducting fibers are arrayed side by side in a flat sheet 37 which mav be as wide and as long as desired.
A light source 38 illuminates the fibers at one end thereof. The other ends of the fibers may be silvered to reflect the light back in the direction of the source. A light detecting and imag~ng device 39 ~depicted schematically as an eye) is positioned at the light entry end of the fibers to observe the light . reflected back from the silvered ends.
A resilient element or "skin'7 41 is positioned across the fiber array 37 such that when depressed by a grasped object, at least a portion of the resilient element will press against the fiber array. The contact area with the fibers alters the reflection characteristics of the fibers and the reflectedlight signal is thereby altered to indicate to the light detecting device 39 that a portion of the resilient element 41 is pressed against the fiber array 37.
It will be appreciated that the fibers 36 and the array 37 thereof are quite flexible and may be bent or folded into desired configurations. The flexible tactile sensor is suited for application to a hand prosthesis where theflexible sensors can be arranged to provide tactile information in the fingers of a glove-like covering for an electro-mechanical hand or nerve damaged 2 5 human hand .
:, ~æ~ 2 Figure 12 illustrates the manner in ~hich a pluralitv of flexible sensors can pro~ride tactile information at various positions over a grasping prosthetic surface. As shown therein, a number of light fiber arrays 42 are encased in a flexible enclosure 93. Enclosure 43 may be any suitable fiexible material S such as silicone rubber, rubber-like polymers, etc.
A number of openings 44 are provided at predetermined positions over the surface of enclosure 43. These openings expose a respective array of the light fibers 42. In the event .~he light fibers are clad with a light reflective or protective coating, said coating is removed where the fibers are exposed at 10 openings ~4.
A flexible skin ~6 of resilient plastic is provided to cover the enclosure 43 and overlie openings ~4. If an object grasped by the prosthesis underlies .one of the openings 44, a portion of skin 46 will be forced through the corresponding opening and against the exposed fiber array. Contact of the 15 skin against the array will alter the reflected light signal passing through the array and light detecting device 39 will reveal that the skin 46 has been forced against the array at a particular point over the surface of the prothe-sis. Thus it can be determined at exactly what point, or poin.ts, over the prosthesis surface, contact is being made with a grasped object. By such an 20 arrangement, the tactile sensors of the present invention can simulate the nerve endings and tactile information of a human hand, for instance.
In the embodiments of the tactile sensor heretofore discussed, a relatively rigid element is utilized as the light conducting member, and a resilient element is utilized as the outer tactile contact. It is possible 25 however to combine the light conducting function into the outer resilient element and utilize a transparent backing or contact member to define tactile . .
~æ~6~8;~
contact areas. This variation of the tactile sensor will be apparent from a review of Figure 14 of the drawing.
As illustrated in Figure 14, a light source 61 illuminates a resilient and light conducting element 62. Element 62 is of an essentially sheet-like 5 configuration. It is preferably f~bricated from a clear, transparent rubbery material such as silicone polymers, or silicone methacrylate co-polymers.
Such materials have resilient rubbery properties but also effectively transmit light therethrough. .~
I,ight rays 63 pass into element 62 from the light source 61 and are 10 internally reflected throughout the volume thereof. A second contact element 64 is positional adjacent to and coextensively with element 62. Contact element 64 is provided with a plurality of bumps or protuberances 66 on the surface thereof irnmediately adjacent element 62. The protuberances 66 serve to position the main portion of element 64 at a slight distance from element 62.
Any points of contact 67 between element 62 and element 64 will interrupt the internal reflection of light within element 62 and permit a portion thereof to pass into contact element 64. Any of such light passing into contact element 64 at an angle normal to the upper surface 68 thereof w~ll 2 0 pass through and be detected by a light detecting device 69 (herein schematically denoted by an eye).
It will be readily apparent that a force applied normally to resilient element 62 will force portions thereof between protuberances 66 up against contact element 64 to thereby increase the area wherein light is transmitted 2 5 through contact element 64 to detector 69.
~æ~ 2 . Other applications and arrangements the tactile sensors of the invention will become readily apparent to those havin g need OI tactile information in ~..
robotic devices. All such variations and applications are intended to be encompassed by this disclosure.
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Claims (8)
1. A tactile sensor device comprising:
a first sheet-like element of light conducting material having opposed surfaces and an edge, a second sheet-like element, generally coextensive with said first sheet-like element, at least one of said sheet-like elements being resiliently deformable so that localized portions of said first and second sheet-like elements will contact each other in response to localized pressure applied to force the sheet-like elements towards each other, means for illuminating the interior of said first sheet-like element through said edge thereof, light detecting means generally coextensive with the first sheet-like elements and positioned on one side thereof to detect light exiting from said first sheet-like element through one of said opposed surfaces thereof.
a first sheet-like element of light conducting material having opposed surfaces and an edge, a second sheet-like element, generally coextensive with said first sheet-like element, at least one of said sheet-like elements being resiliently deformable so that localized portions of said first and second sheet-like elements will contact each other in response to localized pressure applied to force the sheet-like elements towards each other, means for illuminating the interior of said first sheet-like element through said edge thereof, light detecting means generally coextensive with the first sheet-like elements and positioned on one side thereof to detect light exiting from said first sheet-like element through one of said opposed surfaces thereof.
2. The tactile sensor of Claim 1, and further including:
spacer means for separating said first and second sheet-like elements when said elements are not forced towards each other, said spacer means having a plurality of apertures therethrough to permit localized portions of said sheet-like elements adjacent said apertures to be pressed into contact with each other.
spacer means for separating said first and second sheet-like elements when said elements are not forced towards each other, said spacer means having a plurality of apertures therethrough to permit localized portions of said sheet-like elements adjacent said apertures to be pressed into contact with each other.
3. The tactile sensor of Claim 1, wherein one of said sheet-like elements has a plurality of projections integral with a surface thereof and extending towards the other of said sheet-like elements.
4. The tactile sensor of Claim 3, wherein the tips of said projections contact the surface of said other of said sheet-like elements to separate said sheet-like elements.
5. The tactile sensor of Claim 3, wherein the tips of said projections contact the surface of said other of said sheet-like elements and can move along said surface in response to shear forces acting on said sheet-like elements.
6. The tactile sensor of Claim 1, wherein said first sheet-like element is impregnated with a dye that is excited by light.
7. A tactile sensor comprising:
a plurality of light conducting fibers arranged in side by side relationship, said fibers being grouped in arrays, each array having at least one fiber, the fibers of each array having their surfaces exposed at a point thereon, with the exposed surfaces of the arrays of fibers being at predetermined positions, a resilient element adjacent said arrays of light conducting fibers and being locally deformable into and out of contact with the exposed surfaces of the light conducting arrays of fibers in response to the presence or absence, respectively, of localized pressure exerted by an object, means for introducing light into the ends of the fibers of said arrays, means for detecting changes in the intensity of light in each of the arrays of fibers.
a plurality of light conducting fibers arranged in side by side relationship, said fibers being grouped in arrays, each array having at least one fiber, the fibers of each array having their surfaces exposed at a point thereon, with the exposed surfaces of the arrays of fibers being at predetermined positions, a resilient element adjacent said arrays of light conducting fibers and being locally deformable into and out of contact with the exposed surfaces of the light conducting arrays of fibers in response to the presence or absence, respectively, of localized pressure exerted by an object, means for introducing light into the ends of the fibers of said arrays, means for detecting changes in the intensity of light in each of the arrays of fibers.
8. A tactile sensor as set forth in Claim 7 and further including a spacer element disposed between said arrays of light conducting fibers and said resilient member, said spacer element having a plurality of apertures through which said resilient member may be pressed into contact with the exposed surfaces of said light conducting fibers.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/680,759 US4668861A (en) | 1984-12-12 | 1984-12-12 | Tactile sensor employing a light conducting element and a resiliently deformable sheet |
| US680,759 | 1996-07-15 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1246182A true CA1246182A (en) | 1988-12-06 |
Family
ID=24732405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000497489A Expired CA1246182A (en) | 1984-12-12 | 1985-12-12 | Tactile sensor devices |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US4668861A (en) |
| EP (1) | EP0204824A1 (en) |
| CA (1) | CA1246182A (en) |
| WO (1) | WO1986003618A1 (en) |
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| US4909594A (en) * | 1989-02-23 | 1990-03-20 | The Dow Chemical Company | Optical coupler pressure or load sensor |
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| US5168156A (en) * | 1991-06-28 | 1992-12-01 | The Standard Oil Company | Reflective evanescent fiber-optic chemical sensor |
| IL100443A (en) * | 1991-12-20 | 1995-03-30 | Dotan Gideon | Inspection system for detecting surface flaws |
| US5313840A (en) * | 1992-10-30 | 1994-05-24 | At&T Bell Laboratories | Tactile shear sensor using anisotropically conductive material |
| US6243075B1 (en) | 1997-08-29 | 2001-06-05 | Xerox Corporation | Graspable device manipulation for controlling a computer display |
| US6340957B1 (en) * | 1997-08-29 | 2002-01-22 | Xerox Corporation | Dynamically relocatable tileable displays |
| US6243074B1 (en) | 1997-08-29 | 2001-06-05 | Xerox Corporation | Handedness detection for a physical manipulatory grammar |
| US6297805B1 (en) | 1997-08-29 | 2001-10-02 | Xerox Corporation | Multiple interacting computers interfaceable through a physical manipulatory grammar |
| US6268857B1 (en) | 1997-08-29 | 2001-07-31 | Xerox Corporation | Computer user interface using a physical manipulatory grammar |
| US6297838B1 (en) | 1997-08-29 | 2001-10-02 | Xerox Corporation | Spinning as a morpheme for a physical manipulatory grammar |
| US6160540A (en) * | 1998-01-12 | 2000-12-12 | Xerox Company | Zoomorphic computer user interface |
| US6726712B1 (en) * | 1999-05-14 | 2004-04-27 | Boston Scientific Scimed | Prosthesis deployment device with translucent distal end |
| RU2263885C2 (en) * | 2000-08-31 | 2005-11-10 | Тоудай Тло,Лтд. | Optical tactile sensor |
| US6543307B2 (en) | 2001-04-06 | 2003-04-08 | Metrica, Inc. | Robotic system |
| US7420155B2 (en) * | 2003-09-16 | 2008-09-02 | Toudai Tlo, Ltd. | Optical tactile sensor and method of reconstructing force vector distribution using the sensor |
| EP1668484A2 (en) * | 2003-09-22 | 2006-06-14 | Koninklijke Philips Electronics N.V. | Coordinate detection system for a display monitor |
| EP1668482A2 (en) * | 2003-09-22 | 2006-06-14 | Koninklijke Philips Electronics N.V. | Touch input screen using a light guide |
| US8441467B2 (en) * | 2006-08-03 | 2013-05-14 | Perceptive Pixel Inc. | Multi-touch sensing display through frustrated total internal reflection |
| US8144271B2 (en) * | 2006-08-03 | 2012-03-27 | Perceptive Pixel Inc. | Multi-touch sensing through frustrated total internal reflection |
| TWI306054B (en) * | 2006-12-19 | 2009-02-11 | Ind Tech Res Inst | Tactile sensing device and an robotic apparatus using thereof |
| WO2008095137A2 (en) * | 2007-01-31 | 2008-08-07 | Perceptive Pixel, Inc. | Methods of interfacing with multi-point input devices and multi-point input systems employing interfacing techniques |
| FR2915591A1 (en) * | 2007-04-27 | 2008-10-31 | Thomson Licensing Sas | METHOD FOR DETECTING A FLEXION EXERCISED ON A FLEXIBLE SCREEN, AND APPARATUS PROVIDED WITH SUCH A SCREEN FOR CARRYING OUT THE METHOD |
| ITPI20070085A1 (en) * | 2007-07-23 | 2009-01-24 | Scuola Superiore Di Studi Univ | FLEXIBLE TACTILE SENSOR AND METHOD TO OBTAIN IT |
| WO2009018317A2 (en) * | 2007-07-30 | 2009-02-05 | Perceptive Pixel, Inc. | Liquid multi-touch sensor and display device |
| EP2188701B1 (en) * | 2007-08-03 | 2018-04-18 | Microsoft Technology Licensing, LLC | Multi-touch sensing through frustrated total internal reflection |
| TWM350941U (en) * | 2008-03-12 | 2009-02-11 | Forechen Inc | Light source regulating switch device |
| US8411140B2 (en) * | 2008-06-19 | 2013-04-02 | Massachusetts Institute Of Technology | Tactile sensor using elastomeric imaging |
| ITMI20081536A1 (en) * | 2008-08-26 | 2010-02-27 | Fond Bruno Kessler | SINGLE AND / OR MULTIPLE TOUCH SENSOR |
| ES2569120T3 (en) * | 2009-01-14 | 2016-05-06 | Perceptive Pixel, Inc. | Touch sensitive display device |
| US20100188270A1 (en) * | 2009-01-28 | 2010-07-29 | Qualcomm Mems Technologies, Inc. | Optical interrupting interface |
| US8325181B1 (en) | 2009-04-01 | 2012-12-04 | Perceptive Pixel Inc. | Constraining motion in 2D and 3D manipulation |
| WO2010141453A2 (en) * | 2009-06-01 | 2010-12-09 | Han Jefferson Y | Touch sensing |
| US8736581B2 (en) * | 2009-06-01 | 2014-05-27 | Perceptive Pixel Inc. | Touch sensing with frustrated total internal reflection |
| US8624853B2 (en) * | 2009-06-01 | 2014-01-07 | Perceptive Pixel Inc. | Structure-augmented touch sensing with frustated total internal reflection |
| IT1400420B1 (en) | 2010-06-04 | 2013-05-31 | Maria De | SENSOR FOR THE MEASUREMENT OF AN EXTERNAL FORCE APPLIED TO THAT SENSOR. |
| US9228822B2 (en) | 2011-01-24 | 2016-01-05 | President And Fellows Of Harvard College | Non-differential elastomer curvature sensor |
| US8736431B2 (en) | 2011-07-07 | 2014-05-27 | International Business Machines Corporation | Tactile visual indicator |
| CN103959029B (en) | 2011-09-24 | 2017-05-31 | 哈佛大学校长及研究员协会 | Artificial skin and elastic strain sensor |
| US20130194237A1 (en) * | 2012-01-26 | 2013-08-01 | Electronics And Telecommunications Research Institute | Pressure sensor and apparatus for sensing pressure and touch screen including the same |
| US9797791B2 (en) | 2012-10-27 | 2017-10-24 | President And Fellows Of Harvard College | Multi-axis force sensing soft artificial skin |
| FR3040090B1 (en) * | 2015-08-13 | 2019-06-14 | Museum National D'histoire Naturelle | FORCE SENSOR |
| DE112019005711B4 (en) * | 2018-11-13 | 2022-08-18 | Rivian Ip Holdings, Llc | SYSTEMS AND METHODS FOR CONTROL OF LIGHT SOURCES |
| US11478185B2 (en) | 2019-02-12 | 2022-10-25 | Hill-Rom Services, Inc. | Skin dressing having sensor for pressure ulcer prevention |
| EP3995268A4 (en) * | 2019-07-04 | 2023-04-12 | FingerVision Co., Ltd. | Tactile sensor, tactile sensor system, and program |
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| US3624619A (en) * | 1969-01-17 | 1971-11-30 | Telautograph Corp | Pressure-sensing tablet |
| DE2737163A1 (en) * | 1977-08-18 | 1979-02-22 | Fichtel & Sachs Ag | METHOD AND DEVICE FOR IDENTIFICATION AND / OR POSITION DETECTION OF WORKPIECES |
| GB2058394B (en) * | 1979-08-30 | 1984-01-04 | Marconi Co Ltd | Pressure sensitive optical fibre cable |
| US4484179A (en) * | 1980-04-16 | 1984-11-20 | At&T Bell Laboratories | Touch position sensitive surface |
| US4555954A (en) * | 1984-12-21 | 1985-12-03 | At&T Technologies, Inc. | Method and apparatus for sensing tactile forces |
-
1984
- 1984-12-12 US US06/680,759 patent/US4668861A/en not_active Expired - Fee Related
-
1985
- 1985-12-11 EP EP86900454A patent/EP0204824A1/en not_active Withdrawn
- 1985-12-11 WO PCT/US1985/002420 patent/WO1986003618A1/en unknown
- 1985-12-12 CA CA000497489A patent/CA1246182A/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| WO1986003618A1 (en) | 1986-06-19 |
| US4668861A (en) | 1987-05-26 |
| EP0204824A1 (en) | 1986-12-17 |
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