Tactile sensor

Patent metadata

Field	Value
Publication number	US-2017191891-A1
Application number	US-201715461781-A
Country	US
Kind code	A1
Filing date	Mar 17, 2017
Priority date	Mar 15, 2013
Publication date	Jul 6, 2017
Grant date	—

Abstract

A tactile sensor includes a pressure transducer encapsulated in an elastic material that defines a contact surface and provides a transmission path that transmits contact forces or pressure distributions applied to the contact surface to the pressure transducer. The pressure transducer can be enclosed in a protective housing that defines a chamber around the transducer. The housing can include one or more openings that expose the chamber to the exterior pressure. The tactile sensor can be made by applying the elastic material in liquid form and exposing the housing to a vacuum that removes air inside the chamber allowing the liquid elastic material to flow into the chamber. Once cured, the elastic material defines a contact surface of the tactile sensor and serves to transfer contact forces applied to the contact surface to the transducer.

First claim

What is claimed is:

1 . A method of making a contact pressure sensor, the contact pressure sensor including:
a transducer mounted to a substrate and a housing enclosing the transducer; the housing forming a chamber between the housing and the transducer, the housing having at least one opening, connecting the chamber and the transducer to an area outside the housing
the method comprising:
introducing a transmission medium into the housing chamber; wherein the transmission medium forms a path for the transmission of forces applied to the contact surface to the transducer

2 . The method according to claim 1 wherein introducing the transmission medium includes applying an elastic liquid material over the housing; and subjecting the liquid material and the housing to a vacuum whereby the elastic liquid material flows into the chamber and forms a force transmission path between a contact surface and the transducer.

3 . The method according to claim 1 wherein introducing the transmission medium includes injecting a liquid material into the chamber.

4 . The method according to claim 1 wherein introducing the transmission medium includes pouring a low-viscosity liquid or liquid elastic material over the housing and chamber wherein the liquid flows into the chamber.

5 . The method according to claim 1 wherein introducing the transmission medium includes filling the chamber through one opening and allowing the air to escape from a different opening.

6 . The method according to claim 1 wherein introducing the transmission medium includes applying a surfactant to the housing whereby a liquid material flows into the chamber and forms a contact surface over at least a portion of the substrate.

7 . The method according to claim 1 wherein introducing the transmission medium includes inserting a rigid or elastic object as a portion of the transmission medium.

8 . The method according to claim 1 wherein the transmission medium is introduced as a liquid medium that solidifies into an elastomer.

9 . The method according to claim 1 wherein the transmission medium is configurable to selectively apply a pressure on the transducer to pre-stress the transducer and change the sensitivity of the contact pressure sensor.

10 . The method according to claim 1 wherein the transmission medium is configured to apply a predefined pressure on the transducer to pre-stress the transducer and change the sensitivity of the contact pressure sensor.

11 . The method according to claim 1 wherein introducing the transmission medium includes introducing a second material that forms an element in the path between the contact surface and the transducer.

12 . The method according to claim 1 further comprising modifying at least one physical property of the housing in order to change a force transmission property of the transmission medium between the contact surface and the transducer.

13 . The method according to claim 1 further comprising modifying at least one of a size and a location of the opening in the housing.

14 . A method of making a contact sensor from a pressure sensor, the pressure sensor including:
a transducer mounted to a substrate and a housing enclosing the transducer; the housing forming a chamber between the housing and the transducer;
the method comprising:
removing the housing from the pressure sensor; and applying a transmission medium in contact with the transducer, the transmission medium serving to communicate forces from a contact surface to the transducer.

15 . The method according to paragraph 14 wherein removing the housing occurs after affixing the transducer package to the substrate.

Assignees

• Harvard College

Inventors

• Jentoft Leif
• Tenzer Yaroslav
• Howe Robert

Classifications

• H10W90/753

  between laterally-adjacent chips · CPC title

• Y10T29/49007

  Indicating transducer · CPC title

• G01L5/228 Primary

  using tactile array force sensors · CPC title

• G01L1/02

  by hydraulic or pneumatic means · CPC title

• G01L5/0076

  Force sensors associated with manufacturing machines (G01L5/0066, G01L5/0071 and B23Q17/09 take precedence; for the specific machine or operation involved see relevant class, e.g. B21 - B42) · CPC title