Ultrasound time-of-flight sensor module, ultrasound absorption sensor module, tactile-sensing systems, and related methods

Abstract

An ultrasound time-of-flight (TOF) sensor module includes an ultrasonic transducer device, a cover layer, an elastic member, and a signal processor electronically coupled to the ultrasonic transducer. The ultrasonic transducer device includes at least one ultrasonic transducer, which is configured as an ultrasonic transmitter and/or an ultrasonic receiver. The elastic member is interposed between the ultrasonic transducer device and the cover layer. The elastic member undergoes reversible compression in response to an external object impacting and/or contacting the cover layer. An ultrasound propagation distance between the ultrasonic transducer and the cover layer varies in accordance with the compression. The ultrasonic transmitter(s) transmit ultrasound signals. The cover layer reflects a fraction f of the ultrasound signals incident thereon. The signal processor obtains TOF data which indicate time differences between times of transmission of transmitted ultrasound signals by the ultrasonic transmitter(s) and times of receipt of reflected ultrasound signals by the ultrasonic receiver(s). The time differences vary in accordance with the ultrasound propagation distance.