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kissiling sensors are a general term for sensors designed to detect objects without physical contact, replacing contact-based detection methods such as limit switches. They convert information about an object's movement and presence into electrical signals. Detection methods that convert to electrical signals include those utilizing eddy currents generated in the metal body of the detected object due to electromagnetic induction, those detecting changes in capacitance of the electrical signal caused by the approach of the detected object, and those using reed and guided switches.

kissiling sensor introduction

Sensors used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans come into direct contact with the external environment. Developing tactile sensors that meet requirements is one of the key technologies in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development plans for tactile sensors have been proposed, but most are currently at the laboratory stage, with few reaching commercialization. Tactile sensors can be roughly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

kissiling sensor classification

Slip sensors are used to judge and measure the slippage of objects when a robot grips or transports them. They are essentially displacement sensors. They can be divided into three categories based on whether they have sliding direction detection functionality: non-directional, single-directional, and omni-directional. 1) Non-directional sensors include probe-earphone types, which consist of sapphire probes, metal buffers, piezoelectric Rochelle salt crystals, and rubber buffers. Sliding causes the probe to vibrate, which is converted into corresponding electrical signals by the Rochelle salt. The buffer's role is to reduce noise. 2) Single-directional sensors include drum photoelectric types, where the slippage of the gripped object causes the drum to rotate, leading to a photodiode receiving light signals transmitted through a code disk (mounted on the drum's circular face), measuring the object's slippage through the drum's rotation angle signal. 3) Omni-directional sensors use metal balls coated with insulating material and composed of conductive and non-conductive areas arranged in a latitude-longitude distribution. When the sensor contacts an object and slides, the ball rotates, causing the conductive and non-conductive areas on the ball's surface to alternately contact electrodes, thereby generating on-off signals. By counting and judging these on-off signals, the magnitude and direction of slippage can be measured. This type of sensor requires high manufacturing precision.

kissiling sensor applications

Tactile sensors are used to determine whether a robot (primarily its limbs) is in contact with external objects or to measure the characteristics of the contacted objects. Types of tactile sensors include micro switches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1 Micro switch: Composed of a spring and contacts. When the contacts touch an external object, they move away from the substrate, breaking the signal circuit, thereby detecting contact with the external object. The advantage of this normally closed (continuously conductive when not in contact) micro switch is ease of use and simple structure; the disadvantages are susceptibility to mechanical oscillation and contact oxidation. 2 Conductive rubber type: Uses conductive rubber as the sensing element. When the contacts touch an external object and are compressed, the conductive rubber is pressed, changing its resistance and thus altering the current flowing through it. The disadvantage of this sensor is that variations in the material formulation of the conductive rubber lead to inconsistent drift and hysteresis characteristics; the advantage is its flexibility. 3 Carbon-impregnated sponge type: Features an elastic body made of sponge mounted on a substrate, with carbon-impregnated sponge arranged in an array within the sponge. When the contacted object applies pressure, the resistance of the carbon-impregnated sponge decreases. Measuring the magnitude of the current flowing through the carbon-impregnated sponge determines the degree of pressure. This sensor can also be used as a pressure sensor. Advantages include simple structure, good elasticity, and ease of use. Disadvantages are that the uniformity of carbon distribution directly affects measurement results, and recovery capability after compression is poor. 4 Carbon fiber type: Uses carbon fiber as the top layer, a substrate as the bottom layer, and urethane with metal electrodes installed in between. When contacting an external object, the carbon fiber is compressed and makes electrical contact with the electrodes. The advantage is good flexibility, allowing installation on curved surfaces of robotic arms, but hysteresis is significant. 5 Pneumatic reset type: Features a flexible insulating surface that deforms under pressure and uses compressed air as the resetting force when contact is released. When in contact with an external object, the internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. Advantages include good flexibility and high reliability, but a compressed air source is required.

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