WO2009124211A1 - Améliorations de la fonction d'un capteur tactile biomimétique - Google Patents

Améliorations de la fonction d'un capteur tactile biomimétique Download PDF

Info

Publication number
WO2009124211A1
WO2009124211A1 PCT/US2009/039357 US2009039357W WO2009124211A1 WO 2009124211 A1 WO2009124211 A1 WO 2009124211A1 US 2009039357 W US2009039357 W US 2009039357W WO 2009124211 A1 WO2009124211 A1 WO 2009124211A1
Authority
WO
WIPO (PCT)
Prior art keywords
skin
fluid
core
sensor
force
Prior art date
Application number
PCT/US2009/039357
Other languages
English (en)
Inventor
Gerald E. Loeb
Nicholas Wettels
Jeremy Fishel
Chia Hsien Gary Lin
Veronica J. Santos
Raymond Peck
Original Assignee
University Of Southern California
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by University Of Southern California filed Critical University Of Southern California
Publication of WO2009124211A1 publication Critical patent/WO2009124211A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5001—Cosmetic coverings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5058—Prostheses not implantable in the body having means for restoring the perception of senses
    • A61F2002/5061—Prostheses not implantable in the body having means for restoring the perception of senses the sense of touch
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension

Abstract

L'invention concerne des capteurs tactiles qui imitent le bout de doigt humain et ses récepteurs de contact. Les composants mécaniques sont similaires à un bout de doigt, avec un noyau rigide entouré par un fluide faiblement conducteur contenu dans une peau élastomère. Les propriétés déformables du doigtier peuvent être utilisées comme partie d'un procédé de transduction. De multiples électrodes peuvent être montées sur la surface du noyau rigide et connectées à une circuiterie mesurant l'impédance dans le noyau. Des forces externes déforment la voie de fluide autour des électrodes, ce qui conduit à un modèle distribué de modification d'impédance contenant des informations au sujet de ces forces et des objets qui les appliquent. Des stratégies sont décrites pour extraire des caractéristiques liées aux entrées mécaniques et utiliser ces informations pour le contrôle de prise réflexif. Le contrôle de force de prise dans une prothèse ayant des informations de réaction sensorielle est décrit. Des techniques sont décrites pour améliorer la plage de forces utile pour des capteurs d'impédance en texturant de manière interne la peau élastomère.
PCT/US2009/039357 2008-04-02 2009-04-02 Améliorations de la fonction d'un capteur tactile biomimétique WO2009124211A1 (fr)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
US4186708P 2008-04-02 2008-04-02
US4186508P 2008-04-02 2008-04-02
US4186108P 2008-04-02 2008-04-02
US4186808P 2008-04-02 2008-04-02
US61/041,865 2008-04-02
US61/041,861 2008-04-02
US61/041,867 2008-04-02
US61/041,868 2008-04-02
US4218408P 2008-04-03 2008-04-03
US61/042,184 2008-04-03

Publications (1)

Publication Number Publication Date
WO2009124211A1 true WO2009124211A1 (fr) 2009-10-08

Family

ID=41135942

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/US2009/039354 WO2009124209A1 (fr) 2008-04-02 2009-04-02 Mesure fiable des vibrations induites par le frottement de glissement pour la détection tactile biomimétique
PCT/US2009/039357 WO2009124211A1 (fr) 2008-04-02 2009-04-02 Améliorations de la fonction d'un capteur tactile biomimétique

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/US2009/039354 WO2009124209A1 (fr) 2008-04-02 2009-04-02 Mesure fiable des vibrations induites par le frottement de glissement pour la détection tactile biomimétique

Country Status (1)

Country Link
WO (2) WO2009124209A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8181540B2 (en) 2006-03-28 2012-05-22 University Of Southern California Measurement of sliding friction-induced vibrations for biomimetic tactile sensing
US8272278B2 (en) 2007-03-28 2012-09-25 University Of Southern California Enhancements to improve the function of a biomimetic tactile sensor
CN110108751A (zh) * 2019-06-11 2019-08-09 清华大学深圳研究生院 一种可测量热导率和热扩散率的触觉传感器及测量方法
US10444887B2 (en) 2016-09-20 2019-10-15 Cypress Semiconductor Corporation Force sensing
US20210293643A1 (en) * 2018-07-05 2021-09-23 The Regents Of The University Of Colorado, A Body Corporate Multi-Modal Fingertip Sensor With Proximity, Contact, And Force Localization Capabilities
US11408788B2 (en) 2020-03-31 2022-08-09 Toyota Research Institute, Inc. Variable geometry and stiffness control for fluid filled sensor

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8033189B2 (en) * 2005-12-28 2011-10-11 Honda Motor Co., Ltd. Robot skin
GB2580164A (en) * 2018-12-21 2020-07-15 Imperial College Sci Tech & Medicine A sensor
US11772262B2 (en) * 2019-10-25 2023-10-03 Dexterity, Inc. Detecting slippage from robotic grasp

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5604314A (en) * 1994-10-26 1997-02-18 Bonneville Scientific Incorporated Triaxial normal and shear force sensor
US20060115348A1 (en) * 1990-02-02 2006-06-01 Kramer James F Force feedback and texture simulating interface device
US20070227267A1 (en) * 2006-03-28 2007-10-04 Alfred E. Mann Institute For Biomedical Engineering At The Univ. Of Southern California Biomimetic Tactile Sensor

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0009675D0 (en) * 2000-04-20 2000-06-07 Ball Burnishing Mach Tools Mechanical coupling devices
US6769313B2 (en) * 2001-09-14 2004-08-03 Paricon Technologies Corporation Flexible tactile sensor
JP4384976B2 (ja) * 2002-06-19 2009-12-16 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 触覚装置
US20050234292A1 (en) * 2003-08-25 2005-10-20 Faulkner Roger W Hydraulically driven vibrating massagers
US7654956B2 (en) * 2004-07-13 2010-02-02 Dexcom, Inc. Transcutaneous analyte sensor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060115348A1 (en) * 1990-02-02 2006-06-01 Kramer James F Force feedback and texture simulating interface device
US5604314A (en) * 1994-10-26 1997-02-18 Bonneville Scientific Incorporated Triaxial normal and shear force sensor
US20070227267A1 (en) * 2006-03-28 2007-10-04 Alfred E. Mann Institute For Biomedical Engineering At The Univ. Of Southern California Biomimetic Tactile Sensor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8181540B2 (en) 2006-03-28 2012-05-22 University Of Southern California Measurement of sliding friction-induced vibrations for biomimetic tactile sensing
US8272278B2 (en) 2007-03-28 2012-09-25 University Of Southern California Enhancements to improve the function of a biomimetic tactile sensor
US10444887B2 (en) 2016-09-20 2019-10-15 Cypress Semiconductor Corporation Force sensing
US20210293643A1 (en) * 2018-07-05 2021-09-23 The Regents Of The University Of Colorado, A Body Corporate Multi-Modal Fingertip Sensor With Proximity, Contact, And Force Localization Capabilities
CN110108751A (zh) * 2019-06-11 2019-08-09 清华大学深圳研究生院 一种可测量热导率和热扩散率的触觉传感器及测量方法
US11408788B2 (en) 2020-03-31 2022-08-09 Toyota Research Institute, Inc. Variable geometry and stiffness control for fluid filled sensor

Also Published As

Publication number Publication date
WO2009124209A1 (fr) 2009-10-08

Similar Documents

Publication Publication Date Title
US8272278B2 (en) Enhancements to improve the function of a biomimetic tactile sensor
US8181540B2 (en) Measurement of sliding friction-induced vibrations for biomimetic tactile sensing
US7878075B2 (en) Biomimetic tactile sensor for control of grip
Chen et al. Tactile sensors for friction estimation and incipient slip detection—Toward dexterous robotic manipulation: A review
WO2009124211A1 (fr) Améliorations de la fonction d'un capteur tactile biomimétique
Wettels et al. Biomimetic tactile sensor array
EP2010868B1 (fr) Capteur tactile biomimetique
Li et al. Towards the sEMG hand: internet of things sensors and haptic feedback application
Fishel et al. A robust micro-vibration sensor for biomimetic fingertips
Fishel et al. Sensing tactile microvibrations with the BioTac—Comparison with human sensitivity
Su et al. Use of tactile feedback to control exploratory movements to characterize object compliance
Wettels et al. Multimodal tactile sensor
Edin et al. Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task
da Silva et al. A strain gauge tactile sensor for finger-mounted applications
Ke et al. Fingertip tactile sensor with single sensing element based on FSR and PVDF
Romeo et al. Development and preliminary testing of an instrumented object for force analysis during grasping
Fishel Design and use of a biomimetic tactile microvibration sensor with human-like sensitivity and its application in texture discrimination using Bayesian exploration
Loeb Estimating point of contact, force and torque in a biomimetic tactile sensor with deformable skin
EP2340428A1 (fr) Système pour détecter et afficher une souplesse et une force
Edin et al. Bio-inspired approach for the design and characterization of a tactile sensory system for a cybernetic prosthetic hand
Goethals Tactile feedback for robot assisted minimally invasive surgery: an overview
Wettels et al. Biomimetic tactile sensor for control of grip
Wettels Biomimetic tactile sensor for object identification and grasp control
Caldwell et al. ‘Dynamic’multi-functional tactile sensing
Dahiya et al. Biomimetic tactile sensing

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09728219

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09728219

Country of ref document: EP

Kind code of ref document: A1