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BRUNE 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 guide switches.

BRUNE sensor introduction

Sensors used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly contact 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, many development schemes for tactile sensors have been proposed, but most are currently at the laboratory stage, with few commercialized products. Tactile sensors can be roughly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

BRUNE sensor classification

Slip sensors are used to determine and measure the slippage of an object when a robot grips or transports it. It is essentially a displacement sensor. Based 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 probe-earpiece types, which consist of a sapphire probe, a metal buffer, a piezoelectric Rochelle salt crystal, and a rubber buffer. Sliding causes the probe to vibrate, which is converted into a corresponding electrical signal by the Rochelle salt. The buffer reduces noise. 2) Single-directional sensors include drum photoelectric types. 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). 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 configured with latitudinal and longitudinal distributions of conductive and non-conductive areas. When the sensor contacts an object and slips, the ball rotates, causing the conductive and non-conductive areas on the ball's surface to alternately contact electrodes, thereby generating on/off signals. The magnitude and direction of slippage can be measured by counting and judging these on/off signals. This type of sensor requires high manufacturing precision.

BRUNE sensor applications

Contact sensors are used to determine whether a robot (mainly limbs) has contacted an external object or to measure the characteristics of the contacted object. Types of contact sensors include microswitches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1) Microswitch: Composed of a spring and a contact. When the contact touches an external object, it moves away from the base, breaking the signal circuit, thereby detecting contact with the external object. The advantage of this normally closed (continuously connected when not in contact) microswitch 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 sensitive element. When the contact touches an external object and is pressed, it compresses the conductive rubber, changing its resistance and thus altering the current flowing through it. The disadvantage of this sensor is that drift and hysteresis characteristics vary due to differences in the conductive rubber material formulation; the advantage is 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 contacting an object under pressure, the resistance of the carbon-impregnated sponge decreases. Measuring the current flowing through the carbon-impregnated sponge determines the pressure level. 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 is poor. 4) Carbon fiber type: Uses carbon fiber as the top layer, a substrate as the bottom layer, and urethane and metal electrodes in between. When contacting an external object, the carbon fiber is pressed against the electrode, conducting electricity. 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 lost. When contacting an external object, the internal elastic bubble (beryllium copper foil) contacts the lower touchpoint to conduct electricity. Advantages include good flexibility and high reliability, but a compressed air source is required.

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