Automated device with a sensorized covered movable structure, in particular a robot

An automated device comprising:

• a movable structure;
• actuator means operable to cause displacements of the movable structure:
• a control system operable to control the actuator means;
• and
• a sensorised covering which covers at least part of the movable structure,
• wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised covering modules each having a contact sensor device,
• wherein each sensorised covering module has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer,
• wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set,
• wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings, and
• wherein at least one of the one or more sensorised covering modules integrates at least one proximity sensor device each comprising at least one respective layer of electrically conductive material comprising an electrically conductive fabric.

An automated device comprising:

• a movable structure;
• actuator means operable to cause displacements of the movable structure;
• a control system operable to control the actuator means;
• and
• a sensorised covering which covers at least part of the movable structure,
• wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised covering modules each having a contact sensor device,
• wherein each sensorised covering module has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer,
• wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set,
• wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings,
• the contact sensor device further comprising:
• a first electrical conductor (−) and a second electrical conductor (+) connected to the first lower electrically conductive layer and to the second upper electrically conductive layer, respectively, for applying a potential difference between them;
• and
• at least two resistors comprising a first resistor connected between the first lower electrically conductive layer and the second upper electrically conductive layer, and a second resistor connected to one of the first electrical conductor (−) or the second electrical conductor (+),
• wherein the first resistor and the second resistor having different values of electrical resistance, a value of electrical resistance of the first resistor being higher than a value of electrical resistance of the second resistor.