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A magneto-sensitive skin for robots in spaceThe development of a robot arm proximity sensing skin that can sense intruding objects is described. The purpose of the sensor would be to prevent the robot from colliding with objects in space including human beings. Eventually a tri-mode system in envisioned including proximity, tactile, and thermal. To date the primary emphasis was on the proximity sensor which evolved from one based on magneto-inductive principles to the current design which is based on a capacitive-reflector system. The capacitive sensing element, backed by a reflector driven at the same voltage and in phase with the sensor, is used to reflect field lines away from the grounded robot toward the intruding object. This results in an increased sensing range of up to 12 in. with the reflector on compared with only 1 in. with it off. It is believed that this design advances the state-of-the-art in capacitive sensor performance.
Document ID
19910023198
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Chauhan, D. S. (North Carolina Univ. Charlotte, NC, United States)
Dehoff, P. H. (North Carolina Univ. Charlotte, NC, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1991
Subject Category
Mechanical Engineering
Report/Patent Number
ME/ES-TR-91-4
NASA-CR-188956
NAS 1.26:188956
Accession Number
91N32512
Funding Number(s)
CONTRACT_GRANT: NAG5-1053
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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