Multi-axis force sensing soft artificial skin
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United States of America Patent
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Oct 24, 2017
Grant Date -
Oct 15, 2015
app pub date -
Oct 22, 2013
filing date -
Oct 27, 2012
priority date (Note) -
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Abstract
A sensor including a layer having viscoelastic properties, the layer comprising a void, the void filled with a fluid; and optionally, a more rigid sensing element embedded within the layer. When a force is applied to a surface of the sensor, the shape of the void changes, causing the electrical resistance of the fluid in the void to change. When included, the more rigid sensing element can bear upon the void to cause the electrical resistance of the fluid in the void to change. A direction and intensity of the force can be determined by measuring the change of the electrical resistance of different voids positioned about the sensing element. The layer can be an elastomer, preferably silicone rubber. The fluid can be a conductive liquid, preferably Eutectic Gallium Indium. The sensing element can be plastic and can have a “Joystick” shape. The voids can take the form of channels or microchannels having a predefined pattern and/or shape.
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