Force sensor
Disclosed is a force sensor, including: at least one measurement cell, each measurement cell being filled with a filling material in which at least one inclusion of a substance is embedded; for each cell, at least one light source arranged in order to illuminate the inclusion embedded in this cell; for each cell, a measurement system including at least one optical measurement point arranged in order to capture light originating from the inclusion embedded in this cell; for each cell, a unit arranged in order to convert optical signals originating from the measurement system of this cell to a signal representative of a force exerted on this cell, this signal being dependent on a movement of the inclusion embedded within the filling material of this cell.
1. A force sensor ( 1 ), comprising:
a wall ( 20 ) comprising an array of measurement cells ( 2 ), each measurement cell being filled with a filling material ( 3 ) in which at least one inclusion of a substance ( 4 ) is embedded, the wall ( 20 ) comprising or forming the array ( 12 ) of different measurement cells ( 2 ), the measurement cells being integral, whereas there is no space between different adjacent measurement cells ( 2 ) of the array ( 12 ),
for each measurement cell, at least one light source ( 5 ) arranged in order to illuminate the at least one inclusion embedded in said cell,
for each measurement cell, a measurement system ( 6 ) comprising at least one optical measurement point ( 7 ) arranged in order to capture light ( 8 ) originating from the at least one inclusion embedded in said cell,
for each measurement cell, means ( 9 , 10 ) arranged in order to convert optical signals ( 16 ) originating from the measurement system of said cell to a signal representative of a force ( 11 ) exerted on said cell, the signal being dependent on a movement of the at least one inclusion embedded within the filling material of said cell.
2. The sensor according to claim 1 , wherein, for each measurement cell ( 2 ), its measurement system comprises at least three distinct optical measurement points ( 7 ) arranged in order to capture light ( 8 ) originating from the at least one inclusion ( 4 ) embedded in said cell.
3. The sensor according to claim 1 , wherein the wall ( 20 ) comprises a two-dimensional array ( 12 ) of the measurement cells.
4. The sensor according to claim 1 , wherein the optical measurement point or points ( 7 ) of each measurement cell are distinct from the measurement point or points of each of the other measurement cells.
5. The sensor according to claim 1 , wherein each optical measurement point comprises a distal end ( 13 ) of a detection optical fibre ( 14 ).
6. The sensor according to claim 5 , wherein each detection optical fibre ( 14 ) comprises:
its distal end ( 13 ) oriented towards a measurement cell ( 2 ) with which it is associated, and
a proximal end ( 15 ) oriented towards an optical sensor ( 9 ) arranged in order to convert an optical signal originating from the detection optical fibre to an electrical signal, the conversion means ( 9 , 10 ) comprising said optical sensor ( 9 ).
7. The sensor according to claim 1 , further comprising a distinct light source ( 5 ) per measurement cell ( 2 ).
8. The sensor according to claim 7 , wherein each light source ( 5 ) comprises a distal end ( 17 ) of an illumination optical fibre ( 18 ).
9. The sensor according to claim 8 , wherein each illumination optical fibre ( 18 ) comprises:
its distal end ( 17 ) oriented towards a measurement cell with which it is associated, and
a proximal end ( 19 ) orientated towards light generation means ( 23 ),
said light generation means being common to all of the illumination optical fibres ( 18 ).
10. The sensor according to claim 5 , wherein the wall ( 20 ) comprises:
a first face ( 21 ) arranged for the exertion of one or more force(s) measured by the force sensor, and
a second face 22 comprising passages ( 24 ) for the insertion of the distal end ( 13 , 17 ) of each detection ( 14 ) and/or illumination ( 18 ) optical fibre.
11. The sensor according to claim 1 , wherein the signal representative of a force exerted on a measurement cell comprises an intensity of the force and/or a direction of the force.
12. The sensor according to claim 1 , wherein the inclusion ( 4 ) or at least one of the inclusions or each of the inclusions embedded in each measurement cell is a solid object.
13. The sensor according to claim 1 , wherein, for each measurement cell:
the at least one inclusion ( 4 ) embedded in said cell is fluorescent so as to emit an optical fluorescence signal following excitation with an excitation wavelength emitted by the light source(s) ( 5 ) arranged in order to illuminate the at least one inclusion embedded in said cell, the fluorescence signal having a fluorescence wavelength distinct from the excitation wavelength,
the conversion means comprise a filter ( 25 ) arranged in order to filter out the excitation wavelength and allow the fluorescence wavelength to pass through.
14. The sensor according to claim 1 , wherein the conversion means comprise a single optical sensor ( 9 ) for all of the measurement cells, said optical sensor being arranged in order to convert an optical signal originating from any optical measurement point of any measurement cell ( 2 ) to an electrical signal.
15. The sensor according to claim 1 , wherein the array ( 12 ) is produced by 3D printing or from metal.
16. The sensor according to claim 1 , wherein the array ( 12 ) is cylindrical in form.
17. Method for the measurement of force, comprising:
exertion of a force ( 11 ) on a wall ( 20 ) comprising an array of measurement cells ( 2 ), the force being able to vary from one measurement cell to another, each measurement cell being filled with a filling material ( 3 ) in which at least one inclusion of a substance ( 4 ) is embedded,
for each measurement cell, illumination of the at least one inclusion embedded in said cell by at least one light source ( 5 ),
for each measurement cell, capture of light ( 8 ) originating from the at least one inclusion embedded in said cell, by means of a measurement system ( 6 ) comprising at least one optical measurement point ( 7 ),
for each measurement cell, conversion, by conversion means ( 9 , 10 ) of the optical signals originating from the measurement system of said cell to a signal representative of a force exerted on said cell, the signal being dependent on a movement of the at least one inclusion embedded within the filling material of said cell.
18. The sensor according to claim 2 , wherein the wall ( 20 ) comprises a two-dimensional array ( 12 ) of measurement cells.
19. The sensor according to claim 2 , wherein the optical measurement point or points ( 7 ) of each measurement cell are distinct from the measurement point or points of each of the other measurement cells.
20. The sensor according to claim 1 , wherein the inclusion ( 4 ) or at least one of the inclusions or each of the inclusions embedded in each measurement cell is a bead.