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CEAG switches are used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly contact the external environment. Developing tactile switches that meet requirements is one of the technical keys in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development plans for tactile switches have been proposed, but most are currently at the laboratory stage, with few reaching productization. Tactile switches can be roughly divided into contact switches, force-torque switches, pressure switches, and slip switches according to their functions.

CEAG switch introduction

Switches used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly contact the external environment. Developing tactile switches that meet requirements is one of the technical keys in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development plans for tactile switches have been proposed, but most are currently at the laboratory stage, with few reaching productization. Tactile switches can be roughly divided into contact switches, force-torque switches, pressure switches, and slip switches according to their functions.

CEAG switch classification

Slip switches are used to judge and measure the slippage of objects when a robot grips or transports them. They are essentially displacement switches. They can be divided into three categories based on whether they have sliding direction detection functionality: non-directional, unidirectional, and omnidirectional. 1) Non-directional switches 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) Unidirectional switches include roller photoelectric types, where the slippage of the gripped object causes the roller to rotate, leading a photodiode to receive light signals transmitted through a code disk (mounted on the roller's circular surface), measuring the object's slip through the roller's rotation angle signal. 3) Omnidirectional switches use metal balls coated with insulating material and composed of latitudinal and longitudinal distributions of conductive and non-conductive areas. When the switch 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. By counting and judging these on/off signals, the magnitude and direction of the slip can be measured. This type of switch requires high manufacturing process standards.

CEAG switch applications

Tactile switches 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 switches include microswitches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1 Microswitch: Composed of a spring and contacts. When the contacts touch an external object, they move away from the substrate, breaking the signal circuit and 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 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 switch 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 is compressed, the resistance of the carbon-impregnated sponge decreases. Measuring the magnitude of the current flowing through the carbon-impregnated sponge determines the degree of compression. This switch can also be used as a pressure sensor. Its advantages are simple structure, good elasticity, and ease of use. The disadvantages are that the uniformity of carbon distribution directly affects measurement results, and recovery after compression is poor. 4 Carbon fiber type: Uses carbon fiber as the top layer, a substrate as the bottom layer, and urethane and metal electrodes installed in between. When contacting an external object, the carbon fiber is compressed and makes contact with the electrodes to conduct 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 released. When in contact with an external object, the internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. The advantages are good flexibility and high reliability, but a compressed air source is required.

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