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ASIG sensors are devices that convert optical signals into electrical signals. Their operating principle is based on the photoelectric effect. The photoelectric effect refers to the phenomenon where electrons in a material absorb photon energy when light strikes certain substances, resulting in corresponding electrical effects. Based on the different manifestations of the photoelectric effect, it is classified into three categories: external photoelectric effect, internal photoelectric effect, and photovoltaic effect. Photoelectric devices include phototubes, photomultiplier tubes, photoresistors, photodiodes, phototransistors, and solar cells. The performance and characteristic curves of photoelectric devices are analyzed.

ASIG sensor introduction

Sensors used in robots to emulate tactile functions. Touch is an important sensory function when humans directly interact with the external environment. Developing tactile sensors that meet requirements is one of the key technical challenges in robot development. With the advancement of microelectronics technology and the emergence of various organic materials, numerous development proposals for tactile sensors have been put forward. However, most are currently at the laboratory stage, with few reaching commercialization. Tactile sensors can be broadly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

ASIG sensor classification

Slip sensors are used to detect and measure the slippage of objects when a robot grips or transports them. They are essentially displacement sensors. Depending on whether they have sliding direction detection capability, they can be divided into three categories: non-directional, single-directional, and omni-directional. 1) Non-directional sensors include the probe-earphone type, which consists of a sapphire probe, a metal buffer, a piezoelectric Rochelle salt crystal, and a rubber buffer. Sliding causes the probe to vibrate, and the Rochelle salt converts this vibration into a corresponding electrical signal. The buffer serves to reduce noise. 2) Single-directional sensors include the drum photoelectric type. Slippage of the gripped object causes the drum to rotate, leading a photodiode to receive light signals transmitted through a code disk (mounted on the drum's circular face). The object's slippage is measured via the drum's rotation angle signal. 3) Omni-directional sensors use metal balls coated with insulating material and featuring a latitudinal and longitudinal distribution of conductive and non-conductive areas. When the sensor contacts an object and slippage occurs, the ball rotates, causing the conductive and non-conductive areas on its 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 determined. This type of sensor requires a high level of manufacturing precision.

ASIG 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 connected 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: It uses conductive rubber as the sensitive 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: It 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 after pressure release is poor. 4) Carbon fiber type: The upper layer is carbon fiber, the lower layer is a substrate, and polyurethane and metal electrodes are 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: It has 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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