公开(公告)号：US11541550B2

公开(公告)日：2023-01-03

申请号：US16500295

申请日：2018-04-06

申请人： University of Louisville Research Foundation, Inc.

发明人： Joshua R. Baptist ,  Mohammad Nasser Saadatzi ,  Zhong Yang ,  Ruoshi Zhang ,  Dan O. Popa

IPC分类号： B25J13/08 ,  B25J15/02

摘要： A robot skin apparatus includes polymer membranes encapsulating a pressure sensor. The sensor includes piezo-sensitive material in contact with a pair of electrodes in spaced relationship to form a circuit. The apparatus may include a flexible substrate, with the electrodes thereon. The piezo-sensitive material may be piezoresistive film. The electrodes may be symmetrically patterned on the substrate to form a substantially circular peripheral boundary. The apparatus may include pressure sensors on opposite sides of a plane for temperature compensation, a plurality of pressure sensors arrayed on the substrate, and a data acquisition system. A method of fabricating the apparatus includes a wet lithography process for patterning the piezoresistive film. A system includes a pair of gripper fingers, an actuator connected to the fingers, a robot skin apparatus positioned on one of the fingers, and an electronic unit for receiving data from the robot skin and controlling the fingers.

公开(公告)号：US20200070356A1

公开(公告)日：2020-03-05

申请号：US16500295

申请日：2018-04-06

申请人： University of Louisville Research Foundation, Inc.

发明人： Joshua R. Baptist ,  Mohammad Nasser Saadatzi ,  Zhong Yang ,  Ruoshi Zhang ,  Dan O. Popa

IPC分类号： B25J13/08 ,  B25J15/02

摘要： A robot skin apparatus includes polymer membranes encapsulating a pressure sensor. The sensor includes piezo-sensitive material in contact with a pair of electrodes in spaced relationship to form a circuit. The apparatus may include a flexible substrate, with the electrodes thereon. The piezo-sensitive material may be piezoresistive film. The electrodes may be symmetrically patterned on the substrate to form a substantially circular peripheral boundary. The apparatus may include pressure sensors on opposite sides of a plane for temperature compensation, a plurality of pressure sensors arrayed on the substrate, and a data acquisition system. A method of fabricating the apparatus includes a wet lithography process for patterning the piezoresistive film. A system includes a pair of gripper fingers, an actuator connected to the fingers, a robot skin apparatus positioned on one of the fingers, and an electronic unit for receiving data from the robot skin and controlling the fingers.

公开(公告)号：US20230130680A1

公开(公告)日：2023-04-27

申请号：US18086877

申请日：2022-12-22

申请人： University of Louisville Research Foundation, Inc.

发明人： Joshua R. Baptist ,  Mohammad Nasser Saadatzi ,  Zhong Yang ,  Ruoshi Zhang ,  Dan O. Popa

IPC分类号： B25J13/08 ,  B25J15/02

摘要： A robot skin apparatus includes polymer membranes encapsulating a pressure sensor. The sensor includes piezo-sensitive material in contact with a pair of electrodes in spaced relationship to form a circuit. The apparatus may include a flexible substrate, with the electrodes thereon. The piezo-sensitive material may be piezoresistive film. The electrodes may be symmetrically patterned on the substrate to form a substantially circular peripheral boundary. The apparatus may include pressure sensors on opposite sides of a plane for temperature compensation, a plurality of pressure sensors arrayed on the substrate, and a data acquisition system. A method of fabricating the apparatus includes a wet lithography process for patterning the piezoresistive film. A system includes a pair of gripper fingers, an actuator connected to the fingers, a robot skin apparatus positioned on one of the fingers, and an electronic unit for receiving data from the robot skin and controlling the fingers.