Piezoelectric strands for tactile sensing

{
  "publication_number": "US10347815B1",
  "country": "US",
  "kind": "B1",
  "title": "Piezoelectric strands for tactile sensing",
  "abstract": "Methods and apparatus related to arrays of piezoelectric strands. Some implementations are directed to using an array of piezoelectric strands, along with associated driving and sensing components, to enable determination of one or more properties of external force(s) applied to the array, such as what areas of the array have external force being applied, a measure of the applied external force(s), material properties of object(s) applying the external force(s), etc. Each of the piezoelectric strands of an array may include at least a longitudinally extending piezoelectric material and a longitudinally extending conductive electrode.",
  "claims": [
    "1. An apparatus, comprising: a plurality of strands arranged in a first group and a second group, the strands of the first group and the strands of the second group intersecting at a plurality of intersection areas; wherein each of the strands comprises a longitudinally extending piezoelectric material and a longitudinally extending conductive electrode; at least one electronic driver electronically coupled to the strands of the first group and applying varying frequency driver electrical outputs selectively to the conductive electrodes of the strands of the first group; at least one sensor electronically coupled to the conductive electrodes of the strands of the second group and sensing varying piezoelectric electrical outputs generated by the piezoelectric material of the strands of the second group; wherein the piezoelectric material of each of the strands of the first group has a varying mechanical reaction in response to application of a corresponding one of the varying frequency driver electrical outputs to the conductive electrode of the strand; wherein each of a plurality of the varying piezoelectric electrical outputs is generated by the piezoelectric material of a corresponding strand of the strands of the second group in response to mechanical stress applied to the corresponding strand by the varying mechanical reaction of one of the strands of the first group; and at least one processor that determines, based on the varying piezoelectric electrical outputs for a given strand of the strands of the second group, a material of an object applying force at an intersection of the given strand and an additional strand of the strands of the first group, wherein determining the material of the object applying force at the intersection is based on one or more variances in the varying piezoelectric outputs for the given strand.",
    "2. The apparatus of claim 1, wherein the strands of the first group are interwoven with the strands of the second group.",
    "3. The apparatus of claim 1, wherein the strands of the first group are in a first layer and the strands of the second group are in a second layer.",
    "4. The apparatus of claim 3, wherein the intersecting at the plurality of intersection areas is a right angle intersection at each of the intersection areas.",
    "5. The apparatus of claim 3, further comprising a laminating material at least partially encapsulating all of the strands of the first group and the second group.",
    "6. The apparatus of claim 5, wherein the laminating material is conductive.",
    "7. The apparatus of claim 5, wherein the laminating material is non-conductive.",
    "8. The apparatus of claim 7, further comprising a conductive material contacting all of the strands of the first group and all of the strands of the second group.",
    "9. The apparatus of claim 1, wherein the strands of the first group and the strands of the second group are abutting at the plurality of intersection areas.",
    "10. The apparatus of claim 9, wherein the abutting at the plurality of intersection areas is a contacting abutment at each of the intersection areas when no external force is applied to the apparatus and when no electrical output is provided by the electronic driver.",
    "11. The apparatus of claim 1, wherein the conductive electrode of the given strand forms a core of the given strand, and wherein the piezoelectric material of the given particular strand immediately surrounds the conductive electrode.",
    "12. The apparatus of claim 11, wherein the given strand further comprises a longitudinally extending additional conductive electrode that immediately surrounds the piezoelectric material of each of the strands.",
    "13. The apparatus of claim 12, wherein the given strand further comprises an electrically insulating layer surrounding the additional conductive electrode.",
    "14. A method, comprising: applying an electrical output to a piezoelectric strand that intersects each of a plurality of intersecting piezoelectric strands at a corresponding intersection area, wherein applying the electrical output generates a mechanical reaction by the piezoelectric strand, and wherein applying the electrical output to the piezoelectric strand comprises varying a frequency of the electrical output during the applying; receiving, from each of the intersecting piezoelectric strands, a corresponding piezoelectric electrical output generated by the intersecting piezoelectric strand, wherein the corresponding piezoelectric electrical output of each of the intersecting piezoelectric strands is generated in response to mechanical stress applied to the intersecting piezoelectric strand at the corresponding intersection area as a result of the mechanical reaction by the piezoelectric strand; determining, based at least in part on the corresponding piezoelectric electrical outputs, whether any external force is being applied at each of the corresponding intersection areas; and determining a material of an object applying the external force at a given intersection area of the corresponding intersection areas, wherein determining the material of the object is based on one or more variances in the corresponding piezoelectric electrical output of a given intersecting piezoelectric strand of the intersecting piezoelectric strands, wherein the given intersecting piezoelectric strand intersects the piezoelectric strand at the given intersection area.",
    "15. The method of claim 14, further comprising determining a measure of force being applied at a given intersection area of the corresponding intersection areas, wherein determining the measure of force is based on the corresponding piezoelectric electrical output of a given intersecting piezoelectric strand of the intersecting piezoelectric strands, wherein the given intersecting piezoelectric strand intersects the piezoelectric strand at the given intersection area.",
    "16. The method of claim 14, further comprising: applying additional electrical output to an additional piezoelectric strand that intersects each of the intersecting piezoelectric strands at a corresponding additional intersection area, wherein applying the additional electrical output to the additional piezoelectric strand occurs after applying the electrical output to the piezoelectric strand, and wherein applying the additional electrical output to the additional piezoelectric strand generates an additional mechanical reaction by the additional piezoelectric strand; receiving, from each of the intersecting piezoelectric strands, a corresponding additional piezoelectric electrical output generated by the intersecting piezoelectric strand, wherein the corresponding additional piezoelectric electrical output of each of the intersecting piezoelectric strands is generated in response to mechanical stress applied to the intersecting piezoelectric strand at the corresponding additional intersection area as a result of the mechanical reaction by the additional piezoelectric strand; and determining, based at least in part on the corresponding additional piezoelectric electrical outputs, whether any external force is being applied at each of the corresponding additional intersection areas."
  ],
  "description_excerpt": "In the robotics industry and/or other scenarios, it may be it may be desirable to be able to ascertain when an object is applying force to a certain area, the degree of force being applied, and/or one or more properties of the object. For example, it may be beneficial for one or more components of a robot, such as an end effector of the robot, to have some degree of a “tactile sense”.\n\nIn the robotics industry, contact forces may be determined from force and torque data sensed at mechanical joints of the robot. For example, a robotic gripper may include one or more sensors at its mechanical joint(s) to enable determination of when the gripper contacts an object and/or the force of the contact with the object. However, data from the sensors at the mechanical joints may not enable determination of what portions of the gripper are contacting the object, the forces of the contact at those portions, and/or other determinations related to the object or the contact with the object.\n\nOther contact and force sensing technologies exist in the robotics and other industries. For example, a plurality of independent piezoelectric sensors have been proposed to sense contact and/or force. However, independent piezoelectric sensors present one or more drawbacks. For example, in response to initial contact of a piezoelectric sensor by an object, the sensor may create an electrical output that can be used to determine the initial contact.",
  "cpc": [
    "H01L 41/082",
    "B25J 13/084",
    "B25J 19/028",
    "H01L 41/042",
    "H01L 41/1132",
    "H10N 30/302",
    "H10N 30/60",
    "H10N 30/702",
    "H10N 30/802",
    "Y10S 901/46"
  ],
  "ipc": [
    "B25J 19/02",
    "G01L 3/00",
    "H10N 30/00",
    "H10N 30/30",
    "H10N 30/80"
  ],
  "assignees": [
    "X Development LLC"
  ],
  "inventors": [
    "Michael George Sleator"
  ],
  "filing_date": "2015-12-22",
  "publication_date": "2019-07-09",
  "grant_date": "2019-07-09",
  "priority_date": "2015-12-22",
  "application_number": "US-201514978833-A",
  "family_id": "67106675",
  "cited_by_count": 7,
  "citations": [
    "US4634917A",
    "US5209126A",
    "US5760530A",
    "US20030056351A1",
    "US20020194934A1",
    "US20090207493A1",
    "US8161826B1",
    "US8327721B2",
    "US20110261021A1",
    "US20150022491A1",
    "US20160072042A1"
  ]
}