System of robots and robotic parts including method of construction and method of use
View Patent ↗A robotic component can include a Flexible Circuit Board (FCB) that can be bent into various shapes throughout the robotic component. The FCB can include various integrated sensors that can be manufactured as part of the FCB in a way that reduces the size and number of connections. The FCB can include capacitive force sensors that can measure a quantity of force and can be unitary with the FCB and can be manufactured by folding two electrodes around a compressible dielectric pad.
1 . A robotic component comprising:
a flexible circuit board (FCB), the flexible circuit board comprising:
at least one rotational position encoder, the rotational position encoder being on the FCB as an Integrated Chip (IC), and at least one magnet, the at least one magnet being embedded in a joint of the robotic component so that the at least one magnet and the at least one rotational position encoder are on-axis with the joint, so that the rotational position encoder can determine the rotational position of the magnet within the joint; and
at least one strain relief loop that passes around a loop holder within the robotic component.
2 . The robotic component of claim 1 , wherein the FCB further comprises at least one bending segment, the bending segment allowing the FCB to be folded into multiple planes.
3 . The robotic component of claim 2 , wherein the at least one rotational position encoder further comprises at least two rotational position encoders, and wherein the FCB is bent so that a first rotational position encoder is in a first plane and measures a rotational position around a first axis, and a second rotational position encoder is in a second plane and measures a rotational position around a second axis, wherein the first axis and the second axis are in different planes.
4 . The robotic component of claim 1 , wherein the FCB further comprises at least one knot segment, wherein the knot segment is tied in a knot around a support within the robotic component.
5 . The robotic component of claim 1 , wherein the joint of the robotic component has a hollow central canal that passes through the center of the joint, including passing through the rotational axis of the joint, and wherein the FCB passes through the hollow central canal and the rotational axis of the joint.
6 . The robotic component of claim 1 further comprising a 4-bar linkage system, wherein a motor that powers the movement of one joint will also power the movement of a second joint through the 4-bar linkage, and wherein a linkage bar can be semi-rigid, so that a quantity of force applied to a finger tip can be calculated from the rotational position of the two joints when the linkage bar is flexed under force.
7 . The robotic component of claim 6 , wherein the FCB is tied in a knot around the linkage bar.
8 . The robotic component of claim 1 , wherein the joint of the robotic component has a hollow central canal that passes through the center of the joint, including passing through the rotational axis of the joint, and wherein the FCB and tendons that control the movement of the robotic component are routed through the hollow central canal and the rotational axis of the joint.
9 . The robotic component of claim 1 , wherein the robotic component of claim 1 further comprises multiple FCBs in different portions of the robotic component, and wherein the multiple FCBs are connected together by flexible printed circuit board (FPC) connectors and are connected free of soldering or wiring harnesses.
10 . The robotic component of claim 1 , wherein the FCB includes holes through the FCB and wherein tendons that control the movement of the robotic component are routed through the holes through the FCB.
11 . The robotic component of claim 1 , further comprising at least one capacitive force sensor being unitary with the FCB, and the capacitive force sensor having two electrodes folded around a compressible dielectric pad.
12 . A robotic component comprising:
a flexible circuit board (FCB), the flexible circuit board comprising:
at least one rotational position encoder, the rotational position encoder being on the FCB as an Integrated Chip (IC), and at least one magnet, the at least one magnet being embedded in a joint of the robotic component so that the at least one magnet and the at least one rotational position encoder are on-axis with the joint, so that the rotational position encoder can determine the rotational position of the magnet within the joint; and
at least one bending segment, the bending segment allowing the FCB to be folded into multiple planes.
13 . The robotic component of claim 12 wherein the joint of the robotic component has a hollow central canal that passes through the center of the joint, including passing through the rotational axis of the joint, and wherein the FCB passes through the hollow central canal and the rotational axis of the joint.
14 . The robotic component of claim 12 , wherein the joint of the robotic component has a hollow central canal that passes through the center of the joint, including passing through the rotational axis of the joint, and wherein the FCB and tendons that control the movement of the robotic component are routed through the hollow central canal and the rotational axis of the joint.
15 . The robotic component of claim 12 , wherein the at least one rotational position encoder further comprises at least two rotational position encoders, and wherein the FCB is bent so that a first rotational position encoder is in a first plane and measures a rotational position around a first axis, and a second rotational position encoder is in a second plane and measures a rotational position around a second axis, wherein the first axis and the second axis are in different planes.
16 . A robotic component comprising:
a flexible circuit board (FCB), the flexible circuit board comprising:
at least one rotational position encoder, the rotational position encoder being on the FCB as an Integrated Chip (IC), and at least one magnet, the at least one magnet being embedded in a joint of the robotic component so that the at least one magnet and the at least one rotational position encoder are on-axis with the joint, so that the rotational position encoder can determine the rotational position of the magnet within the joint; and
at least one capacitive force sensor being unitary with the FCB, and the capacitive force sensor having two electrodes folded around a compressible dielectric pad.
17 . The robotic component of claim 16 further comprising a layer of foil between the at least one capacitive sensor and the outside of the robotic component, the layer of foil shielding the capacitive sensors from external capacitance.
18 . The robotic component of claim 16 wherein the FCB further comprises at least one bending segment, the bending segment allowing the FCB to be folded into multiple planes.
19 . The robotic component of claim 16 , wherein the robotic component of claim 16 further comprises multiple FCBs in different portions of the robotic component, and wherein the multiple FCBs are connected together by flexible printed circuit board (FPC) connectors and are connected free of soldering or wiring harnesses.