Force detection based on position and/or movement of magnetically sensitive material
Aspects of this disclosure relate to force based on movement of magnetically sensitive material. In embodiments, first magnetically sensitive material and second magnetically sensitive material can be in an initial position. According to such embodiments, one or more sensors to detect force based on relative position of the first magnetically sensitive material and the second magnetically sensitive in a second position. Related systems and methods for force detection are disclosed.
1 . A system with force detection, the system comprising:
first magnetically sensitive material;
second magnetically sensitive material;
a container that encloses a medium, the first magnetically sensitive material and the second magnetically sensitive material, wherein the first magnetically sensitive material and the second magnetically sensitive material are embedded in the medium;
one or more sensors integrated with the container and configured to provide a discernible signature indicative of a force applied to a surface of the container based on relative positions of the first magnetically sensitive material and the second magnetically sensitive material, wherein the discernible signature is based on a combination of the container, the first magnetically sensitive material, the second magnetically sensitive material, and the one or more sensors; and
processing circuitry integrated with the container, the processing circuitry configured to process one or more signals received from the one or more sensors.
2 . The system of claim 1 , wherein the first magnetically sensitive material and the second magnetically sensitive material are in different planes in an initial position, and wherein the one or more sensors are configured to detect the force based on alignment of the first magnetically sensitive material and the second magnetically sensitive material.
3 . The system of claim 1 , wherein the first magnetically sensitive material and the second magnetically sensitive material are aligned in an initial position, and wherein the one or more sensors are configured to detect the force based on the first magnetically sensitive material and the second magnetically sensitive material being in different planes.
4 . The system of claim 1 , wherein the medium is a fluid, and wherein the first magnetically sensitive material comprises magnetically sensitive particles in the fluid.
5 . The system of claim 1 , wherein the medium is a gel, and wherein the first magnetically sensitive material comprises magnetically sensitive particles in the gel.
6 . The system of claim 1 , wherein the first magnetically sensitive material is embedded in a film or a flexible substrate, and wherein the medium comprises the film or the flexible substrate.
7 . The system of claim 1 , wherein the first magnetically sensitive material comprises a solid magnetic structure.
8 . The system of claim 1 , wherein the one or more sensors comprise at least one patterned magnetic sensing structure.
9 . The system of claim 1 , wherein the container contains inert material configured to interact with the container and first magnetically sensitive material.
10 . The system of claim 1 , wherein the first magnetically sensitive material and the second magnetically sensitive material have substantially a same composition.
11 . The system of claim 1 , wherein the one or more sensors are configured to detect force by at least detecting a direction of the force.
12 . A system with force detection, the system comprising:
first magnetically sensitive material, wherein the first magnetically sensitive material comprises magnetically sensitive particles in a phase change material;
second magnetically sensitive material; and
one or more sensors configured to detect a force based on relative positions of the first magnetically sensitive material and the second magnetically sensitive material.
13 . A robotic device comprising the system of claim 12 , wherein the system is configured to provide tactile information to the robotic device, and the tactile information includes temperature and the force.
14 . The system of claim 12 , wherein the system is configured to detect a temperature of a body in contact with the system.
15 . The system of claim 12 , further comprising a first container and a second container, the first container containing the first magnetically sensitive material and the phase change material, and the second container containing at least one of a different type of magnetically sensitive material or a different type of phase change material than the first container.
16 . A method of force detection, the method comprising:
providing a container enclosing a medium, first magnetically sensitive material and second magnetically sensitive material therein in an initial position, wherein the first magnetically sensitive material and the second magnetically sensitive material are embedded in the medium; and
detecting, using one or more sensors and processing circuitry integrated with the container, a force applied to the container based on whether the first magnetically sensitive material is aligned with the second magnetically sensitive material in a second position, wherein the second position is different than the initial position.
17 . The method of claim 16 , wherein the first magnetically sensitive material is in a different plane than the second magnetically sensitive material in the initial position.
18 . The method of claim 16 , wherein the one or more sensors comprise a patterned magnetic sensing structure integrated with the container.
19 . The method of claim 16 , wherein the force is a shear force.
20 . The method of claim 16 , wherein the medium is a fluid, and wherein the first magnetically sensitive material comprises magnetically sensitive particles in the fluid.