This invention relates to a pressure sensor material composition and pressure sensor component architecture.
Pressure sensors, force sensors, and load cells are generally made of a transducer that converts force into a measurable electrical output. Although there are many varieties of pressure sensors, force sensors, and load cells, most of these use strain gauges. Strain gauges send voltage irregularities when under load. The degree of voltage change is converted to digital reading as pressure, force, or weight. Strain gauges can be very precise and accurate, but tend to be limited in the range of their force and pressure detection. Force sensitive resistors (FSRs) are comprised of materials that change resistance when a force, pressure, or mechanical stress is applied. A FSR will vary its resistance depending on how much pressure is being applied to the sensing area. The harder the force, the lower the resistance. FSRs consist of a sensing film, which changes resistance in a predictable manner following application of force to its surface. The sensing film consists of both electrically conducting and non-conducting particles suspended in a polymer matrix. The particles are very small, micron to even nanometer dimensions. Applying a force to the surface of the sensing film causes the particles to touch each other and the conducting electrodes, changing the resistance of the film. Compared to other force sensors, the advantages of FSRs are their very thin size and low cost. FSRs are also simple to use and fairly good at sensing pressure, but they are not very accurate. The main disadvantage of FSRs is their low precision, with measurements that may differ 10% and more, and their range is limited as well, at least compared to the present invention.
Piezoelectric materials convert mechanical energy to electrical energy and vice versa. Piezoelectric materials make very accurate force sensors for small forces, but inherently have a very limited range of pressure or force detection. Most piezoelectric materials are ceramic, and thus are fragile.
Newer tactile sensors, based on light diodes positioned under a transparent flexible polymer matrix that change their reflected light patterns under force or pressure, have been developed by several academic groups and commercialized by companies including GelSight™. These sensors can detect aspects of an object (force, pressure, shape), but are limited by their reliance on a camera and space for its focal length. The size and shape limitations of these sensors limits the ability to ingrate these sensing systems into applications with many mechanical constraints.
Most extremely sensitive sensors are fragile. The pressure sensors in the present invention are extremely sensitive, and though soft and compliant, are also elastic, robust, and have a wide pressure range. Most pressure sensors described as flexible are actually simply bendable. The soft compliant sensors and the sensor materials in the instant invention are truly flexible, compressible, and flexible (stretchable and elastomeric).
Described herein are novel pressure sensors, also called force sensors, transducers, tactile sensors, or tactile skin, that have elastic properties for a fingertip-like grip feel and grip, extremely sensitive (beyond the sensitivity of a human fingertip), and yet are also tough and robust and with a very wide pressure range of use. Pressure is force divided by area. The pressure sensors described in the instant invention can also be considered force sensors, transducers, load cells, or scales or balances (weight determination). The sensors in the instant invention also attenuate force and have good creep resistance, good elasticity, and low mechanical hysteresis effects. The pressure sensors in the instant invention feel like human fingertip pads, and this is on purpose. Human grasp is gentle yet firm at the same time, due in part to the morphology of our fingertips. Muscle is used for motion, but muscle is also placed in areas of the body as pads. These areas often use passive muscle, with our fingertips being a prime example of this. The softness of the passive muscle tissue pads in our fingertips is in part what makes human grasp able to have that duality of gentle yet firm grip. Human fingertips also have a high concentration of nerve endings and are among the most sensitive areas of the human body. The nerve endings in our fingertips provides feedback to perform complex neural computations. This process of touch extracts the geometrical features of the objects we touch, such as shape, edges, hardness or softness, texture, weight, and density. The ability to replicate human like grasp in the pressure sensors of the instant invention is due in part to the morphology characteristics of the sensor material and the electronic characteristics of the sensing system, which can provide feedback. By using a combination of cross-linking agents, these sensors are multi-modal. Like cartilage, for example, this allows the pressure sensor to be able to withstand a variety of different impacts, which helps with durability and longevity.
These pressure sensors and their sensor materials provide variable resistance when subjected to mechanical pressure, even very light pressure. The sensor materials are neither pure conductors nor pure insulators, but are something in between, and so are semi-conductive with capacitive properties. Their electronic signature can be described as a variable resistor-capacitor. This variable resistive nature combined with their elastic physical nature is very useful. Pressure applied to the surface of the sensor causes a change in the geometry and properties of the sensor material. By placing electrodes in various places inside or on the surface of the sensor material, changes in resistance and capacitance caused by mechanical strain can be measured. The electrodes can be a single area or layer for each electrode (the positive and negative charged electrodes), or can be arranged in multiple areas, or a combination. When many electrodes are placed in and on the sensor material, a sophisticated understanding of the distribution of pressure on its surface from the object being handled can be determined.
The sensor material is a viscoelastic material. Even though these sensors are soft and complaint (compliant in the context of this application refers to a deformable, flexible material physical characteristic of the sensor material)—they feel like a human fingertip—and with a good amount of tack, which is beneficial for good adhesion to the electrodes, these sensors are also quite elastic. These sensors are elastomeric, with low mechanical hysteresis, low creep, and good rebound after the pressure is released.
The sensor material is not a thermoplastic, but rather, is a cross-linked network, also known as a thermoset. This provides for some unique advantages over thermoplastics. Thermosets tend to be much stronger and tougher than corresponding thermoplastics of similar composition. Typically, improving the toughness in polymers also increases their durability. Thermoplastics swell in solvent(s) and diluent(s), rather than dissolving into solution like a thermoplastic. Thermosets, however, typically cannot be melted and reformed, while thermoplastics are melted and then cooled into desired shapes through injection molding and other methods. Once a thermoset has set or cured, which can be in a mold, that is its final shape. The cross-linking strategy for fingertip-like pressure sensors in the instant invention provided for sensor materials that were: 1) Soft and slightly elastomeric, and with good rebound after mechanical pressure, i.e., low hysteresis and low creep; 2) with adequate conductance to be easily measured electronically; and 3) low enough electronic hysteresis after the release of mechanical pressure for good signaling outputs.
By constructing pressure sensor pads using an elastic material, immediate feedback is generated at the first point of contact. Because these pressure sensors provide for an elastic interface, the first point of contact does not apply excessive force, allowing the force applied to the object to be finely controlled. The pressure sensor can also detect a change in pressure location on its surface, making it possible to detect and prevent slippage by then adjusting the grip strength. In other words, directional glide can provide feedback on the presence of slippage to then control a slightly tighter grip, due to both the feedback and the soft gentleness of the pressure sensor pads themselves. The elastic nature of the sensor material acts as a fingertip-like pad that naturally holds the gripped object, improving gripping quality over rigid robotic grippers and end of arm tooling (EOAT) without an increase in applied force.
The pressure sensor material(s) is comprised of cross-linked networks, produced by ultraviolet (UV) photo-polymerization of hydrophilic monomers with selected cross-linking agents, using any appropriate commercially available photo-initiator like Irgacure® 184 (1-hydroxycyclohexylphenyl ketone, Ciba, Aldrich and other suppliers). The UV source can be a UVitron® SunRay 600 W 175 mW/cm2 UVA (320-390 nm) array operated at the lower setting. The desired pore sizes and elasticity in the final networks were achieved by controlling the cross-link density and solvation during polymerization. Other free radical and excited state initiators can be used, such as benzoyl peroxide, azobisisobutyronitrile (AIBN), and others. Other energy sources for the polymerization can be used, such as heat (infrared radiation), visible light, gamma ray radiation, microwave energy, and others. A mixture of cross-linking agents was used to produce multi-modality in the sensor materials, in order to provide good material integrity and toughness over a wide range of mechanical pressure inputs. The poly(ethylene glycol) (PEG) dimethacrylate based cross-linking agents helped provide elasticity, while silicone containing cross-linking agents in particular helped provide toughness (plus some elasticity) in these sensors and their sensor materials.
A variety of solvents and diluents can be used. Two diluents that can be used are glycerin, also known as glycerol, and low molecular weight poly(ethylene glycol) (PEG). These diluents can be used singly or in combination. PEG-200 has a density close to water, 1.124 g/mL compared to 1.000 g/m for water, so was used for the pressure sensors in the instant invention, but other PEG and polymeric diluents could be used to provide a variety of properties as desired.
These novel pressure sensors can conduct low levels of electricity at the atomic level. Electrolytic salts, including simple salts such as sodium chloride and potassium chloride, and ionic liquids (ILs), such as 1-butyl-3-methylimidazolium hexafluorophosphate, provided good conductance in the sensor material. The conductance of the sensor material can be controlled as desired during synthesis by adjusting the concentration of salt(s), ionic liquid(s), or a combination. Resistance, the inverse of conductance, was measured in these EAPS using a digital multi-meter and other methods. The resistance of the soft sensors was easily matched to the appropriate resistors used in the circuitry for pressure sensing. Likewise, resistors can be matched to the synthesized sensor materials. Potentiometers can also be used to determine the best resistor-sensor material match. As previously described with respect to FSRs, micron and nanometer level conductive additives are added to a polymer matric to provide for variable conductance, with investigators using smaller and smaller nanoparticles. A level even smaller than these nanoparticles is at the Angstrom level, i.e., the level of atoms or at the atomic level. Because the conductive moieties in the instant invention, dissolved electrolytes, ionic liquids, or a combination, are part of the sensor material at the atomic level, rather than particles, this provided a wide range of pressure detection, rather than the sharp jumps observed in typical force sensitive resistors (FSRs). This is a profound advantage over traditional pressure sensors. The sensors in the instant invention have the ability to detect extremely small pressure and forces, withstand high mechanical pressures and forces, and have proportionality over a wide pressure range.
The pressure sensor according to one embodiment is comprised of an elastic, semi-conductive, cross-linked polymeric sensor material with appropriate electrodes, and a coating(s). The pressure sensor material is comprised of a cross-linked polymeric material (also known as a cross-linked network, infinite network, or gel), which is a hydrophilic monomer, polymerized and cross-linked with at least one cross-linking agent, and with at least one diluent or solvent (which could be incorporated before, during, or after the polymerization), such as water, low molecular weight poly(ethylene glycol), glycerol (also known as glycerin), or other similar diluents, and any combinations thereof, and with at least one salt or electrolyte, where the sensor has conductive layers or conductive pins or conductive areas (i.e., electrodes), top and bottom, or embedded within the sensor material, which could be carbon or metal based and which could be single or multi-channeled, and optionally, the sensor has a coating(s) to help protect the sensor material (cross-linked polymeric material) and the conductive layer(s), pin(s), area(s), or combination thereof.
The hydrophilic monomer(s) for the pressure sensor material can be selected from a group consisting of poly(methacrylic acid), poly(2-hydroxyethyl methacrylate), poly(vinyl alcohol), ionized poly(acrylamide), poly(acrylic acid), poly(acrylic acid)-co-(poly(acrylamide), poly(2-acrylamide-2-methyl-1-propane sulfonic acid), poly (methacrylic acid), poly(styrene sulfonic acid), quartemized poly(4-vinyl pyridinium chloride), poly(vinylbenzyltrim-ethyl ammonium chloride), sulfonated poly(styrene-b-ethylene-co-butylene-b-styrene), sulfonated poly(styrene), and combinations thereof. The cross-linking agents can be selected from a group consisting of poly(dimethylsiloxane) (PDMS) dimethacrylate, a poly(ethylene glycol) dimethacrylate, an ethylene glycol dimethacrylate, 1,1,1-trimehtylolpropane trimethacrylate, and combinations thereof. The polymer material comprising the pressure sensor can have a diluent selected from a group consisting of poly(ethylene glycol) with a molecular weight around 200 g/mole, glycerin, also known as glycerol, and combinations thereof. The polymer comprising the pressure sensor can have an electrolyte selected from a group consisting of Group 1 and Group 7A salts, Group 1 and Group 6A salts, Group 2 and Group 7A salts, Group 2 and Group 6A salts, Group 1 and carbonate salts, Group 2 and carbonate salts, Group 2 and sulfate salts, Group 2 and sulfate salts, ionic liquids, and combinations thereof. The pressure sensor's coating(s) can be an elastomeric material, such as silicone, but could also be polyurethane based or comprise another flexible material, or combinations thereof.
According to one embodiment, conductive ultrafine carbon particles, such as Cabot® Vulcan™ carbon particles, were employed for the sensor material. With particulate carbon, pressure sensing only came into play at extremely high mechanical pressures, and then a jump (basically like a force sensitive resistor was observed), but this may have some value to provide for pressure sensors that need an extremely wide range of operation. The particles could be carbon or metal based, and micron or nanometer sized, depending on the application.
The pressure sensor in the instant invention is comprised of a four-layer structure, where the first layer is comprised of a thin flexible and robust silicone or other elastomer, which is used to protect the rest of the sensor, and to provide a uniform and durable contact surface. Any flexible, durable material can be used for this top layer, which serves as a flexible protective coating. The second layer is comprised of a carbon fiber fabric which is electrically connected to the sensing circuitry. Any material that is both flexible and highly conductive can be used in this layer. The third layer is comprised of the cross-linked polymeric sensor material, which is electrically and mechanically connected to the conductive layer above it. The fourth layer is comprised of a flat, rigid, insulating surface, on which is embedded a conductive layer or an array of electrodes, all of which are connected to the underlying circuitry. This array of electrodes allows the sensing circuitry to determine the electrical properties of the sensor material at various different locations. The cross-linked polymeric sensor material is a formulated in order to create a low noise, high accuracy force transducer. This sensor material's characteristics are neither pure conductors, nor pure resistors, but something in between. When subjected to mechanical force, the electrical characteristics of the pressure sensor material changes: 1) the combination of ion-containing, polar, or hydrophilic polymer groups on the cross-linked polymeric material and the free charge carriers in the diluent(s)'s solution create a material with uniform electrical characteristics with a moderately high resistance, which can be varied depending on the exact formulation and manufacturing conditions (50 kOhm to 1 MOhm), where the moderate resistance and low charge mobility mean that the electrical signal transmitted through the material are very low noise and are resistant to electromagnetic interference; 2) deformation from pressure causes changes in the electrical characteristics, which are both highly linear with strain applied and low noise—the composition and manufacturing conditions of the cross-linked polymeric sensor material can be altered to change the hardness of the material, leading to different correlations between applied stress and strain, thus the material can be used to create highly accurate force and pressure transducers which operate over many force ranges in both tension and compression; 3) the first point of contact (first touch) can be readily and near instantaneously detected, due to the sensitivity (low signal to noise) and the speed (low latency) of this novel pressure sensor; 4) when pressure is applied to the surface, deformation of the sensor occurs, and the distance between the conductive surface and the electrodes on the bottom of the sensor material changes, which causes the electrical resistance and capacitance measured at each of the electrodes to change, where these changes can then be interpreted to learn information about the position and shape of objects in contact with the surface of the sensor: 4A) using the measured change in voltage between the electrodes, the sensor can determine the location of the primary contact of an object; 4B) the ratios of the electric signals can also be used to determine size and shape of an object, for example, in the bottom diagram in
The pressure sensors according to an embodiment have been tested and found to be extremely sensitive (
The pressure sensors described herein have a wide pressure range. The soft sensor material is partly what makes the grip of these pressure sensors so unique, but good elasticity, i.e., the ability to quickly rebound back to their original position after the pressure is removed, is also very important. This elasticity allows the sensor to be able to reliability sense the next object being gently gripped. Though these sensor materials are viscoelastic, these sensors are very elastic for such a soft matrix (
The soft nature of these pressure sensors and other factors in the formulations such as the diluent(s) used, also can provide good tack, which is important for good adhesion of the sensors material to any electrode(s) (and the baseplate).
There are many materials that are soft and with high tack (stickiness), for example, glues and adhesive. Most soft, compliant (low modulus) materials aren't very elastic, while most elastic (rubbery) materials don't have much tack and aren't very soft or very compliant. The pressure sensors and the pressure sensor's materials in the instant invention can be soft and compliant, much like a human fingertip, can have tack for good adhesion, can have elasticity (good rebound when pressure is released), and can have electronic characteristics for sensing pressure and/or force (and/or weight). These pressure sensors can be extremely sensitive, but they also have a wide pressure range, in part because of the pressure sensor material's unique softness/compliance and elasticity. The formulations for the pressure sensor material can be tailored as needed for various applications.
Increasing the number of negative electrode pins on the bottom plate of the sensor is expected to be able to easily determine more defined spatial information. In the printed circuit board (PCB), the current limiting resistors in series with the sensor material can be increased to more closely match the sensor material and to lower the current flow over the entire system. This allows the sensor to be able to operate continually much longer (days) without a rest, reset, or calibration step and increase its total operating lifetime. Adding an optional gate to ground can also be added to the PCB so that a reset or calibration step can be provided as needed. Optionally, a gated pathway for a short reverse polarity step can be added to serve as a full reset as needed. Rather than gold plating the screwheads by hand, off the shelf gold plated electronic pins can be ordered for the negative electrodes.
In the pressure sensor of the instant invention, one way to capture and display the electronic information from the pressure or force sensing is as follows (
In addition to being able to determine the first crucial point of contact of an object with the pressure sensor, there is a richness of information that can be extracted from these fingertip-like sensors develop this technology into intuitive human-like tactile touch. Human grasp is simultaneously gentle yet firm, is intuitive, and is loaded with tactile touch information. The sensor is able to determine several characteristics of the of an object in contact with is including, center of contact, an estimate of object shape, and direction and magnitude of force being applied to the sensor. The softness or hardness of an object being handled or manipulated can also be determined using these pressure sensors. This information can be extracted using a machine learning (ML) recognition algorithm to classify different types of shapes and determine force and position by drawing on past data. The sensor is initially soft but becomes firmer once solid contact has been made, much like the human grasp. It also learns to identify object and grasp characteristics by learning many examples in a similar way as humans do. A fatigue test rig was used to produce datasets with a variety of shapes to test for consistent signal consistency over time. ML was performed along with artificial intelligence (AI) integration. To allow the sensor to predict force independent of shape or size of the object causing that force, the testing apparatus applied force to the sensor with different shapes while changing the position, angle, and amount of force. This training set is then processed by a neural network to teach the sensor how to identify force and position independent of the shape of the object applying that force. Some shapes used in the training set are spheres, flat objects, and cylinders over a range of sizes and curvatures to simulate those objects a sensor is most likely to deal with in operation, as well as triangles and other training shapes. To provide correct data to the machine learning algorithm, a geometric analysis program was created to determine the point of contact between each object and the sensor. Algorithm modeling and shallow learning were first explored, and neural networks were started: Several ML tooling methods were investigated, including k-nearest neighbor and random forests, and convolutional neural networks are currently being investigated to extract position, force, and shape data from the sensor. ML and AI can be layered into the sensor systems, however, even with these add-ons for more intuitive feedback, these sensor systems are consistent, reliable, and can be made as simple as possible to maintain low latency, i.e, to keep the feedback speed near instantaneous in real time without delays. Concerning glide feedback to prevent slippage, there could be a fast feedback loop without much ML and AI, while for more sophisticated tasks and motion, ML and AI could be more fully employed. The analogy is when our hand feels pain, we immediately jerk our hand back because of the faster response from the spinal cord feedback loop, while the more delayed interpretation of pain and analysis comes from the brain's feedback loop. This quick feedback loop helps prevent injury, while for more sophisticated tasks like fine craftsmanship, most of the feedback to our hands is cerebral. The combination of a fast feedback loop for point of contact and glide or shear and ML/AI integration for the more complex understanding and EOAT manipulation of objects, using these novel sensing features, is creating the possibility of robotic grippers and EOAT with human hand-like dexterous control and tactile touch sensing.
This invention describes a pressure sensor, device, or system, which can act as force sensor or a tactile sensor or skin, comprising hydrophilic monomer(s), cross-linked with appropriate cross-linking agent(s), with appropriate solvent(s) or diluent(s), electrolyte(s), electrodes, and coating(s). These pressure sensors can be made in a variety of shapes and sizes as desired. With soft compliant pressure sensors that can detect down to 0.01 N and lower, and also robust and with a wide pressure range, the pressure sensors in the instant invention can be used in a variety of applications, from robotic grippers, EOAT and prosthetic hands to medical sensing and sports equipment, and other applications. Another observation happened while testing these sensors. What we thought was an electronic artifact, was the pressure sensor in the instant invention picking up the heartbeat pulse in our fingers when we were holding the sensors during testing (could even see the atrioventricular-semilunar two parts of the heartbeat pulse,
The forgoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that specific details are not required in order to practice the invention. Thus, the forgoing descriptions of specific embodiments of the invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed; obviously, many modifications and variations are possible in view of the above teachings. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, they thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. It is intended that the following claims and their equivalents define the scope of the invention.
This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Application 63/014,494, filed Apr. 23, 2020, U.S. Provisional Application 63/028,094, filed May 21, 2020, U.S. Provisional Application 63/092,663, filed Oct. 16, 2020, and U.S. Provisional Application 63/168,053, filed Mar. 30, 2021, the entire contents of which are incorporated by reference.