ROBOT WITH COMPLIANT CONTACT AND GEOMETRY SENSORS WITH VARYING TOUCH SENSITIVITY

Abstract

Robots (200) with touch sensitivity, comprehensive: multiple deformable sensors (100) with different degrees of depth resolution and spatial resolution for detecting a pose and force associated with an object (215), each deformable sensor (100) comprising: an encapsulation (113) comprising a deformable membrane (120), wherein the encapsulation (113) is designed to be filled with a medium; and an optical time-of-flight sensor (130) arranged in the encapsulation (113) with a field of view (132) designed to be directed towards a bottom side of the deformable membrane (120); and a first section (201) and a second section (202), each comprising at least one deformable sensor (100) of the multiple deformable sensors (100).

Description

[0001] The invention relates to robots with varying touch sensitivity, comprising deformable contact and geometry sensors. Deformability can refer, for example, to the ease with which deformable sensors are deformed. Spatial resolution can refer, for example, to the number of pixels a deformable sensor has. The number of pixels can range from 1 (e.g., in a sensor that simply detects contact with a target object) to thousands or millions (e.g., the dense sensor provided by a time-of-flight sensor with thousands of pixels) or any suitable number. Deformability can also refer to how easily a deformable membrane deforms upon contact with a target object.A deformable sensor can offer high spatial resolution with a dense tactile scanning sensor, deployed as an end effector of a robot, giving the robot fine touch perception similar to a human finger. A deformable sensor can also provide depth resolution to measure movement towards and away from the sensor.

[0002] Contact sensors are used to determine whether an object is in physical contact with another object. For example, robots often use contact sensors to determine whether a section of the robot is in contact with an object. Controlling the robot can then be based, at least in part, on signals from one or more contact sensors.

[0003] ITO, Yuji; KIM, Youngwoo; OBINATA, Goro. Multi-axis force measurement based on vision-based fluid-type hemispherical tactile sensor. In: 2013 IEEE / RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013, pp. 4729-4734, describes a deformable sensor for detecting the pose and force associated with an object. The sensor has an encapsulation with a deformable membrane. The encapsulation is filled with a medium. A CCD camera is located within the encapsulation, with a field of view directed towards the underside of the deformable membrane. See also ASSAF, Tareq, et al. Seeing by touch: Evaluation of a soft biologically-inspired artificial fingertip in real-time active touch. Sensors, 2014, 14th year, no. 2, pp. 2561-2577 describes a tactile sensor for a robot with a CCD camera in an encapsulation, wherein the camera's field of view is directed towards the underside of a deformable membrane.US 2011 / 0083517A1 concerns a robot with sections in which different sensors are arranged. KIM, Joohyung; ALSPACH, Alexander; YAMANE, Katsu. 3D printed soft skin for safe human-robot interaction. In: 2015 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2015, pp. 2419-2425, describes a tactile sensor that detects collisions with objects by measuring pressure.

[0004] The object of the present invention is to provide a robot with improved spatial resolution and / or depth resolution. This object is achieved by a robot having the features of claim 1 or claim 7. Advantageous embodiments are described in the dependent claims.

[0005] In one embodiment of the invention, the touch-sensitive robot has several deformable sensors with different degrees of depth resolution and spatial resolution to detect a pose and force associated with an object. Each deformable sensor has an encapsulation comprising a deformable membrane, the encapsulation being designed to be filled with a medium. Each deformable sensor further comprises an optical time-of-flight sensor arranged in the encapsulation, with a field of view directed towards an underside of the deformable membrane. The robot also comprises a first section and a second section, each comprising at least one of the several deformable sensors.

[0006] In another embodiment of the invention, the touch-sensitive robot comprises a first section and a second section, each comprising at least one of several deformable sensors. The several deformable sensors comprise different degrees of depth resolution and spatial resolution to detect a pose and force associated with an object. Each of the several deformable sensors comprises an encapsulation comprising a deformable membrane, the encapsulation being configured to be filled with a medium. Each deformable sensor further comprises an optical time-of-flight sensor arranged within the encapsulation, with a field of view configured to be directed through the medium and toward an underside of the deformable membrane.The robot also includes a processor designed to analyze a contact area in the deformable membrane as a result of contact with the object, in order to determine both the pose of the object and the magnitude of the force applied between the deformable membrane and the object.

[0007] These and additional features provided by the embodiments described here will be better understood in light of the following detailed description in conjunction with the drawings.

[0008] The embodiments shown in the drawings are by their very nature illustrative and exemplary and are not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where a similar structure is designated by similar reference numerals and where: Fig. Figure 1 schematically shows an elevation view of an exemplary deformable sensor according to one or more embodiments described and illustrated here; Fig. Figure 2 schematically shows a perspective top view of the object in the Fig. 1 exemplary deformable sensor shown according to one or more embodiments described and illustrated herein; Fig. Figure 3 schematically shows an exemplary time-of-flight sensor for use in a deformable sensor according to one or more embodiments described and illustrated here; Fig. Figure 4 is an image showing an output from a deformable sensor on an electronic display, according to one or more embodiments described and illustrated herein; Fig. Figure 5 schematically shows a filter layer coupled to a deformable membrane of a deformable sensor, according to one or more embodiments described and illustrated herein; Fig. Figure 6 schematically shows a filter within a field of view of a sensor of a deformable sensor according to one or more embodiments described and illustrated here; Fig. Figure 7 schematically shows a pattern of the underside of a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; Fig. Figure 8 schematically shows two exemplary robots, each having a deformable sensor and handling an object, according to one or more embodiments described and illustrated here; Fig. Figure 9 schematically shows an exemplary robot with several deformable sensors with varying spatial resolution and depth resolution according to one or more embodiments described and illustrated here; Fig. Figure 10 schematically shows a composite internal sensor comprising several internal sensors, according to one or more embodiments described and illustrated herein; Fig. Figure 11 is a flowchart showing an exemplary process of determining the pose and force associated with an object in contact with a deformable sensor, according to one or more embodiments described and illustrated herein; Fig. Figure 12 is a block diagram illustrating computer hardware used in one or more facilities to implement various processes and systems, according to one or more embodiments described and illustrated herein; and Fig. Figure 13 is a block diagram illustrating hardware used in one or more robots to implement various processes and systems, according to one or more embodiments described and illustrated herein.

[0009] The sense of touch allows humans to determine the shape of an object without visually inspecting it. Furthermore, it provides information on how to correctly grasp and hold an object. Human fingers are more sensitive to touch than other parts of the body, such as the arms. This is because humans handle objects with their hands.

[0010] Robots are typically equipped with end effectors designed to perform specific tasks. For example, a robot arm's end effector might be designed to resemble a human hand or a two-fingered gripper. However, robots do not possess the varying degrees of touch sensitivity that humans have. End effectors may include sensors, such as pressure sensors, but these provide limited information about the object in contact with the end effector. Therefore, the robot might damage a target object by applying excessive force or drop it due to an improper grip.

[0011] Furthermore, a deformable / yielding end effector may be desirable in some applications. For example, a deformable end effector may be desirable in robot-human interactions. Additionally, a deformable / yielding end effector may be desirable when the robot handles fragile objects.

[0012] Embodiments of the present disclosure relate to deformable / flexible contact and / or geometry sensors (hereinafter referred to as "deformable sensors") that not only detect contact with a target object, but also detect the geometry, pose, and contact force of the target object. In particular, the deformable sensors described herein comprise a deformable membrane coupled to a housing that holds a sensor capable of detecting displacement of the deformable membrane upon contact with an object. The deformable sensors described herein not only detect the pressure or force applied to the deformable membrane, but can also detect the geometry and pose of the object. Thus, the deformable sensors described herein provide a robot (or other device) with touch perception for handling objects.

[0013] As with reference to the Fig. 1 and Fig. Figure 2 shows a schematic illustration of an exemplary deformable sensor 100. Fig. Figure 1 is a front view of the exemplary deformable sensor 100, and the Fig. Figure 2 is a perspective top view of the exemplary deformable sensor 100. Fig. 1 and Fig. Figure 2 shows different embodiments. The exemplary deformable sensor 100 generally comprises a housing 110 and a deformable diaphragm 120 coupled to the housing 110, for example by an upper section 111 of the housing 110. The housing 110 and the deformable diaphragm 120 define an encapsulation 113, which is filled with a medium through one or more passages 112, which may be a valve or any other suitable mechanism. The passage 112 can be used to fill or empty the encapsulation. In one example, the medium is a gas, such as air. Thus, air can be pumped into the encapsulation 113 up to a desired pressure, causing the deformable diaphragm 120 to form a dome shape, as shown in Figure 2. Fig. Figure 1 is shown, although in other embodiments any suitable form may be used. In another example, the medium is a gel, such as silicone or another rubber-like substance. In some embodiments, a substance, such as solid silicone, may be poured into a given mold before the deformable sensor 100 is assembled. In various embodiments, the medium may be anything that is transparent to an internal sensor (discussed in more detail below), such as to the wavelength of a time-of-flight sensor. In some embodiments, the medium may include clear / transparent rubbers. In other embodiments, the medium may be a liquid. In some examples, the deformable membrane 120 and the medium within the encapsulation 113 may be made of the same material, such as, without limitation, silicone.In some embodiments, the deformable sensor 100 can be mounted. For example, the encapsulation 113 can include clamps so that it can be mounted on any suitable object (such as a robot) or material. The deformable membrane 120 can be made of latex or any other suitable material, such as a suitably thin, non-porous, rubber-like material.

[0014] The deformability of the deformable sensor 100 can be adjusted / modified by changing the material of the deformable membrane 120 and / or the pressure within the encapsulation 113. Using a softer material (e.g., soft silicone) makes the deformable sensor 100 more easily deformable. Similarly, lowering the pressure within the encapsulation 113 can also cause the deformable membrane 120 to deform more easily, which in turn can result in a more deformable sensor 100.

[0015] An internal sensor 130, capable of sensing depth, can be arranged within the encapsulation 113, which can be measured by the depth resolution of the internal sensor 130. The internal sensor 130 can have a field of view 132 directed through the medium and toward a bottom surface of the deformable membrane 120. In some embodiments, the internal sensor 130 can be an optical sensor. As described in more detail below, the internal sensor 130 can be capable of detecting deflections of the deformable membrane 120 when the deformable membrane 120 comes into contact with an object. In one example, the internal sensor 130 is a time-of-flight sensor capable of measuring depth. The time-of-flight sensor emits an optical signal (e.g., an infrared signal) and has individual detectors (i.e., "pixels") that detect how long the reflected signal takes to return to the sensor.The time-of-flight sensor can have any desired spatial resolution. The greater the number of pixels, the higher the spatial resolution. The spatial resolution of the sensor, which is located in the internal sensor 130, can be changed. In some cases, a low spatial resolution may be desirable (e.g., a single pixel detecting the displacement of a single point). In others, such a sensitive time-of-flight sensor can be used as a high-resolution internal sensor 130, providing dense tactile scanning. Thus, the internal sensor 130 can be modular, as the sensors can be changed depending on the application. In some embodiments, robots are equipped with varying touch sensitivity, which is due to varying spatial and / or depth resolution.

[0016] The Fig. Figure 3 shows an example of a time-of-flight sensor. A non-restrictive example of a time-of-flight sensor is the Pico Flexx, which is distributed by PMD Technologies AG from Siegen, Germany. Other types of internal optical sensors include, as non-restrictive examples, stereo cameras, laser distance sensors, structured light sensors / 3D scanners, single cameras (such as those with dots or other patterns inside), or any other suitable type of optical detector. For example, the internal sensor 130 can be designed as a stereo camera capable of detecting deflections of the deformable membrane 120 by an object.

[0017] Any suitable quantity and / or types of internal sensors 130 can be used in a single deformable sensor 100 in some embodiments. In some examples, not all internal sensors 130 in a deformable sensor 100 need be of the same type. In various embodiments, a deformable sensor 100 can use a single internal sensor 130 with high spatial resolution, whereas another deformable sensor 100 can use several internal sensors 130, each with low spatial resolution. In some embodiments, the spatial resolution of a deformable sensor 100 can be increased by increasing the quantity of internal sensors 130. In some examples, a reduction in the number of internal sensors 130 in a deformable sensor 100 can be compensated for by a corresponding increase in the spatial resolution of at least some of the remaining internal sensors 130.As discussed in more detail below, the aggregate deformation resolution can be measured as a function of the deformation resolution or depth resolution among the deformable sensors 100 in a section of a robot. In some embodiments, the aggregate deformation resolution can be based on a set of deformable sensors in a section of the robot and a deformation resolution determined by each deformable sensor in that section.

[0018] As further referenced Fig. As shown in Figure 1, a tube 114 within the encapsulation 113 can be used to provide power and / or data / signals, such as via a tube for the internal sensor 130, for example, for a USB (Universal Serial Bus) or any other suitable type of power and / or signal / data connection. As used here, an airtight tube can include any type of passage through which air or any other fluid (such as liquid) cannot flow. In this example, an airtight tube can provide a passage through which a solid object (such as wires / cables) can pass, with an airtight seal formed around such wires / cables at each end of the airtight tube. Other embodiments utilize wireless internal sensors 130 to transmit and / or receive data and / or power.In various embodiments where the medium is not a gas, such as silicone, the encapsulation 113 and / or the tube 114 may not necessarily be airtight.

[0019] In some embodiments, the internal sensor 130 may include one or more internal pressure sensors (barometers, pressure sensors, etc., or any combination thereof) used to detect the general deformation of the deformable membrane 120 by the medium. In some embodiments, the deformable sensor 100 and / or the internal sensor 130 may receive / send various data, such as through the tube 114 discussed above, wireless data transmission (Wi-Fi, Bluetooth, etc.), or any other suitable data communication protocol. For example, the pressure in a deformable sensor 100 may be specified by a pressure parameter and may be inversely proportional to the deformability of the deformable sensor 100. In some embodiments, the deformability of a deformable sensor 100 may be modified by changing the pressure in the encapsulation 113 or by changing the material of the deformable membrane 120.In some embodiments, receiving an updated parameter value can lead to an update (of the pressure, etc.) in real time or with a delay.

[0020] The Fig. Figure 4 shows an image of an exemplary object 215 displacing the deformable membrane 120 of the exemplary deformable sensor 100. In the illustrated embodiment, a display device 140 outputs the output of the deformable sensor 100 in real time for display on a device, as an object 215 contacts and / or deforms the deformable membrane 120. It is understood that the display device 140 is provided for illustrative purposes only and that the embodiment can be used without a display device. As the object 215 is pressed into the deformable membrane 120, the object 215 imparts its shape to the deformable membrane 120, so that the deformable membrane 120 conforms to the shape of the object 215. The spatial resolution of the internal sensor 130 can be such that the internal sensor 130 detects the geometry and / or pose of the displaced deformable membrane 120.If, for example, the internal sensor 130 is a time-of-flight sensor, the optical signal reflected from the underside of the deformable membrane 120, which is deflected by the object, has a shorter time of flight than the optical signal reflected from the deformable membrane 120 in an area outside the deflected area. Thus, a contact area 142 (or the displaced area, used synonymously here), which has a geometry and / or pose that reflects the shape of the object 215, can be output and displayed on the display device 140.

[0021] The deformable sensor 100 can therefore detect not only the presence of contact with object 215, but also the geometry of object 215. In this way, a robot equipped with the deformable sensor 100 can determine the geometry of an object based on contact with it. Additionally, the geometry and / or pose of object 215 can also be determined based on the geometric information sampled by the deformable sensor 100. For example, a vector 144 perpendicular to a surface in the contact area 142 can be displayed, such as when determining the pose of object 215. The vector 144 can be used by a robot or other device to determine, for example, the direction in which a particular object 215 is oriented.

[0022] As with reference to Fig. As can be seen in Figure 5, in some embodiments an optional filter layer 123 can be arranged on a bottom side 121 of the deformable membrane 120. As described in more detail below and in the Fig. As shown in Figure 7, the underside 121 of the deformable membrane 120 can be patterned (e.g., by a grid pattern 122, a dot pattern, or any other suitable type of pattern) that can be detected, as a non-restrictive example, by a stereo camera to detect displacement. The filter layer 123 can be configured to assist the internal sensor 130 in detecting deformation of the deformable membrane 120. In some embodiments, the filter layer 123 reduces glare or unsuitable reflections of one or more optical signals emitted by the internal sensor 130. In some embodiments, the filter layer 123 can scatter one or more optical signals emitted by the internal sensor 130.The filter layer 123 can be an additional layer attached to the underside 121 of the deformable membrane 120, or it can be a coating and / or pattern applied to the underside 121 of the deformable membrane 120.

[0023] As with reference to Fig. As shown in Figure 6, in some embodiments an internal sensor filter 135 can be arranged in the field of view 132 of the internal sensor 130. The internal sensor filter 135 can optimize the optical signal emitted by the internal sensor 130 for reflection at the underside 121 of the deformable membrane 120. Like the filter layer 123, the internal sensor filter 135 can be arranged in a field of view 132 of the internal sensor 130 and can reduce glare or unsuitable reflections of any optical signal emitted by the internal sensor 130. In some embodiments, the internal sensor filter 135 can scatter one or more optical signals emitted by the internal sensor 130. In some embodiments, both the internal sensor filter 135 and the filter layer 123 can be used.

[0024] As now with reference to Fig. As shown in Figure 7, a grid pattern 122 can be applied to a bottom surface 121 of the deformable membrane 120 to aid in the detection of deformation of the deformable membrane 120. For example, the grid pattern 122 can aid in the detection of deformation if the internal sensor 130 is a stereo camera. For example, varying degrees of distortion of the grid pattern 122 can be used to detect how much deformation has occurred. In this example, the distance between parallel lines and / or measuring the curvature of lines in the grid pattern 122 can be used to determine the magnitude of deformation at each point of the grid. It is understood that the embodiments are not limited to grid patterns, as other types of patterns are possible, such as dots, shapes, and the like. The pattern on the bottom surface 121 can be random and not necessarily in a grid pattern 122 or an array, as shown in Figure 7. Fig. 7 is shown.

[0025] The Fig. Figure 8 schematically shows an exemplary, non-restrictive first robot 200a with a first deformable sensor 100a and an exemplary second robot 200b with a second deformable sensor 100b. In this illustrated example, the first robot 200a and the second robot 200b can work together for dual-arm handling, with both the first deformable sensor 100a and the second deformable sensor 100b making contact with the object 215. As stated above, the deformable sensors 100 described here can be used as an end effector of a robot for handling an object. The deformable sensor 100, due to the flexible nature of the deformable membrane 120, allows a robot to handle a fragile object 215.Furthermore, the deformable sensor 100 can be used for robot-human contact, since the deformable membrane 120 in some embodiments can be softer and / or more flexible / deformable in relation to contact, instead of rigid (not or almost not deformable).

[0026] In addition to geometry and pose estimation, the deformable sensor 100 can be used to determine how much force a robot 200a (or other device) exerts on the target object 215. Although reference is made to the first robot 200a, in some embodiments all such references can utilize the second robot 200b, any other suitable device, and / or any combination thereof. This information can be used by the robot 200a to grasp the objects 215 more accurately. For example, the displacement of the deformable membrane 120 can be modeled. The model of the displacement of the deformable membrane 120 can be used to determine how much force is applied to the target object 215. The determined force, as measured by the displacement of the deformable membrane 120, can then be used to control a robot 200a so that it grasps objects 215 more accurately.For example, the magnitude of the force that a robot 200a (discussed in more detail below) applies to a fragile object 215 may be important to prevent the robot 200a from breaking the fragile object 215. In some embodiments, an object 215 may be assigned a softness value (or brittleness value), and the robot 200a may be programmed to interact with all objects 215 based on this softness value (which may be received by a processor, for example, from a database, a server, user input, etc.). In some embodiments, a user interface may be provided to input any suitable value (pressure in the deformable sensor 100 in the ). Fig. 1, softness value belonging to an object 215, etc.) to provide for initialization and / or updating (such as on a display device, shown in 140). Fig. 4, Fig. 1204 Fig. 12 etc.). In other embodiments, a robot 200a may be able to identify specific objects 215 (such as via object recognition in an optical recognition system), thereby modifying the softness value, which may lead to the use of a different deformable sensor 100 that has a more suitable deformability, aggregate spatial resolution, depth resolution, pressure, and / or material for the deformable membrane 120. In some embodiments, a processor in a robot 200a may receive data from the internal sensor 130 representing the contact area 142. In various embodiments, a processor in a robot 200a may determine a vector 144, perpendicular to a surface of the object 215, based on the data representing the contact area 142, and use the vector 144 to determine the direction in which the object 215 is oriented.

[0027] In some embodiments, several deformable sensors can be provided at different positions on a robot 200. Fig. Figure 9 shows an exemplary robot 200 with several deformable sensors 100, 100', and 100" at different positions. A deformable sensor 100 can serve as an end effector of the robot 200 and exhibit high spatial resolution and / or depth resolution. In some embodiments, the deformability of a deformable sensor 100 can be a function of any combination of the material of the deformable membrane 120 and the internal pressure in the deformable sensor 100. In some embodiments, a deformable sensor 100 can have a clamp or any other suitable fastening mechanism. For example, the deformable sensor 100 can be detachably attached to a robot 200, and / or a robot 200 can have features to provide for the attachment and / or detachability of a deformable sensor 100.Any suitable type of clamp, fastener or fastening mechanism may be used in some embodiments.

[0028] Each deformable sensor 100 can have a desired spatial resolution and / or depth resolution depending on its position on the robot 200. In the illustrated embodiment, deformable sensors 100' are arranged on a first arm section 201 and a second arm section 202 (where the terms "arm section" and "section" are used synonymously throughout). An arm section can have one or more deformable sensors 100 or none at all. The deformable sensors 100' can be shaped to conform to the shape of the first arm section 201 and / or the second arm section 202. It should be noted that the deformable sensors 100 described here can assume any shape, depending on the application. The deformable sensors 100' can be very flexible and thus deformable. This can be advantageous in human-robot interactions. In this way, the robot 200 can make contact with or touch a person (e.g., by touching a person).B. “hug” the person) without causing harm due to the softness of the deformable sensors 100’ and / or the ability to control the force of contact with an object. The spatial resolution of the one or more deformation sensors 100’ in the arm sections 201, 202 can be high or low depending on the application. In the example of the . Fig. 9. The deformable sensors 100" near the base section 203 of the robot 200 may have a low spatial resolution and be designed to detect only contact with a target object. The deformability of the deformable sensors 100" near the base of the robot 200 can be determined based on the application of the robot 200. The depth resolution and / or spatial resolution of the sensors 100 may vary along different parts of the robot 200. For example, a section 203 may not be necessary to identify the shape and / or pose of an object that comes into contact with a particular deformable sensor 100, since simply registering contact with an object may provide sufficient information, whereas contact with another section (such as 201) may establish pose and / or shape information derived from the contact. As described in the Fig. As shown in Figure 9, the deformable sensors 100 can be of any suitable size, which can even change within an arm section. Although the arm sections 201, 202, 203 are shown to be discrete / non-overlapping, overlaps may occur in other embodiments.

[0029] As discussed above, a section of a robot 200 can provide an aggregate spatial resolution that is greater than that of another section. In some embodiments, a section of a first robot 200a can interact with an object 215 in simultaneous coordination with a section of the second robot 200b, and the aggregate spatial resolution of the section of the first robot 200a can be equal to the spatial resolution of the section of the second robot 200b. In some embodiments, the deformability, such as in a section of a robot 200a, can be determined and / or modified based on a softness value of one or more objects 215 with which the section interacts.In various embodiments, the aggregate spatial resolution of one section can differ from the aggregate spatial resolution of another section based on the fact that both sections are designed to interact with multiple objects 215 exhibiting different softness values. In some embodiments, modifying the aggregate spatial resolution of the section can be based on adjusting the number of deformable membranes 120, the number of internal sensors 130 in one or more deformable membranes 120, and / or the spatial resolution of at least one internal sensor 130. In some embodiments, different sections can operate as a tandem.As discussed above, for example, one section can use high spatial resolution to determine the pose / shape of an object and / or a pattern on a surface on the object, while another section (on the same or a different robot) can only detect the contact position, with these sections being able to communicate with each other or with another component that receives information from both sections.

[0030] As now with reference to Fig. Figure 10 shows an embodiment with a composite internal sensor 1000 that can be used in a deformable sensor (not shown). Several internal sensors 1002 are shown, which in this embodiment are time-of-flight cameras (as above for the Fig. (as discussed in Section 3). Other embodiments may utilize any combination of different types of internal sensors. In this embodiment, cables 1004 are used to provide data communication and / or power the internal sensors, although other embodiments may use a different number of cables and / or wireless connections for data and / or power. A support structure 1006 is shown in this embodiment, although other embodiments may use multiple support structures or no support structure. In this embodiment, the support structure is rigid, although one or more support structures may be flexible to change the orientation of the internal sensors 1002 in some embodiments. In this embodiment, the cables 1004 for data communication and / or power supply may be connected to a base section 1008.

[0031] As now with reference to Fig. Figure 11 shows a flowchart 1100 illustrating an exemplary process for determining the pose and force associated with an object in contact with a deformable sensor. In block 1102, a medium (gas, liquid, silicone, etc.) can be contained within the encapsulation 113, which has a housing 110, while the deformable membrane 120 is coupled to an upper section 111 of the housing 110. In block 1104, the deformation of the deformable membrane 120 based on contact with an object 215 can be measured via an internal sensor 130 in the encapsulation 113, which has a field of view 132 directed through the medium and to a bottom surface 121 of the deformable membrane 120. In block 1106, a pose of the object 215 can be determined based on the measured deformation (such as the contact area 142) of the deformable membrane 120.In block 1108, the force between the deformable membrane 120 and the object 215 is determined based on the measured deformation of the deformable membrane 120. Blocks 1106 and 1108 can be performed simultaneously, but this is not mandatory. In block 1110, it is determined whether further deformation and / or contact are detected. If so, the flowchart can return to block 1104. If not, the flowchart can end.

[0032] As with reference to Fig. Figure 12 shows a block diagram illustrating an example of a computing device 1200 by which embodiments of the disclosure can be implemented, such as (as a non-limiting example) a deformable sensor 100, an internal sensor 130, a robot 200, or any other device described herein. The computing device 1200 described herein is merely an example of a suitable computing device and does not indicate any limitation of the scope of protection of any embodiments shown. Nothing illustrated or described with respect to the computing device 1200 should be interpreted as requiring or creating any kind of dependency with respect to any element or elements.In various embodiments, a computing device 1200 may, but is not limited to, comprise a deformable sensor 100, an internal sensor 130, or a robot 200. In one embodiment, the computing device 1200 comprises at least one processor 1202 and memory (non-volatile memory 1208 and / or volatile memory 1210). The computing device 1200 may comprise one or more display and / or output devices 1204, such as monitors, loudspeakers, headphones, projection devices, wearable displays, holographic displays, and / or printers. The computing device 1200 may further comprise one or more input devices 1206, which may include, for example, any type of mouse, keyboard, disk / media drive, memory stick / USB stick, memory card, stylus, touch input device, biometric scanner, voice / sound input device, motion detector, camera, scale, etc.

[0033] The computing device 1200 can include non-volatile memory 1208 (ROM, flash memory, etc.), volatile memory 1210 (RAM, etc.), or a combination thereof. A network interface 1212 can enable communication over a network 1214 via wires, a wide area network, a local area network, a personal area network, a cellular network, a satellite network, etc. Suitable local area networks can include wired Ethernet and / or wireless technologies such as Wi-Fi. Suitable personal area networks can include wireless technologies such as IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and / or other near-field communication protocols. Suitable personal area networks can also include wired computer buses such as USB and FireWire.Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM. The network interface 1212 can be coupled to any device capable of transmitting and / or receiving data over the network 1214. Accordingly, the hardware of the network interface 1212 can include a communication transceiver for sending and / or receiving any wired or wireless communication. For example, network interface hardware can include an antenna, a modem, a LAN port, a Wi-Fi card, a WiMAX card, mobile communication hardware, near-field communication hardware, satellite communication hardware, and / or any wired or wireless hardware for communicating with other networks and / or devices.

[0034] A computer-readable storage medium 1216 can comprise multiple computer-readable media, each of which can be either a computer-readable storage medium or a computer-readable signaling medium. A computer-readable storage medium 1216 can, for example, be located in an input device 1206, non-volatile memory 1208, volatile memory 1210, or any combination thereof. A computer-readable storage medium can include physical media capable of storing instructions associated with or used by a device or system. Examples of computer-readable storage media that are not limited to RAM, ROM, cache, optical fibers, EPROM / flash memory, CD / DVD / BD-ROM, hard disk drives, solid-state storage, optical or magnetic storage devices, floppy disks, electrical connections with a conductor, or any combination thereof.A computer-readable storage medium can also include, for example, a system or device of a magnetic, optical, semiconductor, or electronic nature. Computer-readable storage media and computer-readable signal media are mutually exclusive. For example, a robot 200 and / or a server can use a computer-readable storage medium to store data received by one or more internal sensors 130 on the robot 200.

[0035] A computer-readable signal medium can be any type of computer-readable medium that is not a computer-readable storage medium, and can include, for example, transmitted signals taking any number of forms, such as optical, electromagnetic, or a combination thereof. A computer-readable signal medium can include transmitted data signals that contain computer-readable code, for example, on a carrier wave. Computer-readable storage media and computer-readable signal media are mutually exclusive.

[0036] The computing device 1200, such as a deformable sensor 100, an internal sensor 130, or a robot 200, can include one or more network interfaces 1212 to enable communication with one or more remote devices, which may include, for example, client and / or server devices. In various embodiments, the computing device (for example, a robot or a deformable sensor) can be configured to communicate with a server or another network computing device via a network in order to transmit data to and receive data from one or more deformable sensors 100 on a robot 200. A network interface 1212 can also be described as a communication module, as these terms can be used synonymously.

[0037] Referring to Fig. 13 Exemplary components of a non-restrictive embodiment of a robot 1300 are shown schematically. The robot 1300 comprises a housing 1310, a communication path 1320, a processor 1330, a memory module 1332, a tactile display 1334, an inertial measurement unit 1336, an input device 1338, an audio output device 1340 (e.g., a loudspeaker), a microphone 1342, a camera 1344, network interface hardware 1346, a tactile feedback device 1348, a position sensor 1350, a light 1352, a proximity sensor 1354, a temperature sensor 1356, a motorized wheel assembly 1358, a battery 1360, and a charging port 1362. The components of the robot 1300, except for the housing 1310, can be located inside or mounted on the housing 1310. The various components of the Robot 1300 and their interaction are described in detail below.

[0038] What's next in Fig. As shown in Figure 13, the communication path 1320 can be formed from any medium capable of transmitting a signal, such as conductive wires, conductive traces, optical waveguides, or the like. Furthermore, the communication path 1320 can be formed from a combination of media capable of transmitting signals. In one embodiment, the communication path comprises a combination of conductive traces, conductive wires, connectors, and buses that work together to allow the transmission of electrical data signals to components such as processors, memory, sensors, input devices, output devices, and communication devices. Accordingly, the communication path 1320 can include a bus. It should also be noted that the term "signal" refers to a waveform (e.g.,Electrical, optical, magnetic, mechanical, or electromagnetic signals, such as DC, AC, sine waves, triangular waves, square waves, vibrations, and the like, are capable of traveling through a medium. Communication path 1320 couples the various components of robot 1300 in a communicating manner. As used here, the term "communicating coupled" means that the coupled components are capable of exchanging data signals with each other, such as electrical signals via a conductive medium, electromagnetic signals through the air, optical signals via optical waveguides, and the like.

[0039] The processor 1330 of the robot 1300 can be any device capable of executing machine-readable instructions. Accordingly, the processor 1330 can be a controller, an integrated circuit, a microchip, a computer, or any other computing device. The processor 1330 can be coupled to the other components of the robot 1300 via the communication path 1320. In various embodiments, this allows the processor 1330 to receive data from one or more deformable sensors 100 that may be part of the robot 1300. In other embodiments, the processor 1330 can receive data directly from one or more internal sensors 130 that are part of one or more deformable sensors 100 on the robot 1300.Accordingly, communication path 1320 can connect any number of processors to each other and allow the components connected to communication path 1320 to operate in a distributed computing environment. In particular, each component can act as a node capable of sending and / or receiving data. Although the... Fig. While embodiment 13 shows a single processor 1330, other embodiments may include more than one processor.

[0040] As furthermore, with reference to Fig. As shown in Figure 13, the memory module 1332 of the robot 1300 is coupled to the communication path 1320 and communicates with the processor 1330. The memory module 1332 can, for example, contain instructions to detect the shape of an object that has deformed the deformable membrane 120 of a deformable sensor 100. In this example, these instructions, stored in the memory module 1332, when executed by the processor 1330, enable the determination of an object's shape based on the observed deformation of the deformable membrane 120. The memory module 1332 can comprise RAM, ROM, flash memory, hard disks, or any other non-volatile storage device capable of storing machine-readable instructions so that the processor 1330 can access and execute them.The machine-readable instructions can comprise logic or an algorithm or algorithms written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL), such as machine language that can be executed directly by the processor, or assembly language, object-oriented programming (OOP), scripting languages, microcode, etc., which can be compiled or assembled into machine-readable instructions and stored in memory module 1332. Alternatively, the machine-readable instructions can be written in a hardware description language (HDL), such as logic implemented either via a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC) or their equivalents.Accordingly, the functionality described here can be implemented in any conventional computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. Although the functionality described in the... Fig. While embodiment 13 shows a single memory module 1332, other embodiments may include more than one memory module.

[0041] The tactile display 1334, if provided, is coupled to the communication path 1320 and communicates with the processor 1330. The tactile display 1334 can be any device capable of providing tactile output in the form of updatable tactile messages. A tactile message transmits information to a user via touch. For example, a tactile message can be in the form of a tactile writing system, such as Braille. A tactile message can also be in the form of any shape, such as the shape of an object detected in the environment. The tactile display 1334 can provide the user with information regarding the operating status of the robot 1300.

[0042] Any known or yet-to-be-developed tactile display can be used. In some embodiments, the tactile display 1334 is a three-dimensional tactile display comprising a surface from which sections can be raised to communicate information. The raised sections can be mechanically actuated in some embodiments (e.g., mechanically raised and lowered pins). The tactile display 1334 can also be fluidically actuated, or it can be designed as a tactile electro-vibration display.

[0043] The inertial measurement unit 1336, if provided, is coupled to the communication path 1320 and communicates with the processor 1330. The inertial measurement unit 1336 can include one or more accelerometers and one or more gyroscopes. The inertial measurement unit 1336 transforms the sampled physical motion of the robot 1300 into a signal that indicates the orientation, rotation, velocity, or acceleration of the robot 1300. The operation of the robot 1300 may depend on its orientation (e.g., whether the robot 1300 is horizontal, tilted, or the like).Some embodiments of the robot 1300 may not include an inertial measuring unit 1336, such as embodiments that include an accelerometer but no gyroscope, embodiments that include a gyroscope but no accelerometer, or embodiments that include neither an accelerometer nor a gyroscope.

[0044] As furthermore, with reference to Fig. As shown in Figure 13, one or more input devices 1338 are coupled to the communication path 1320 and communicate with the processor 1330. The input device 1338 can be any device capable of transforming user contact into a data signal that can be transmitted via the communication path 1320, such as a key, a switch, a button, a microphone, or the like. In various embodiments, an input device 1338 can be a deformable sensor 100 and / or an internal sensor 130, as described above. In some embodiments, the input device 1338 includes a power button, a volume button, an activation button, a scroll button, or the like.The one or more input devices 1338 can be provided to allow the user to interact with the robot 1300, such as navigating menus, making selections, setting basic preferences, and performing other functions described herein. In some embodiments, the input device 1338 includes a pressure sensor, a touch-sensitive area, a pressure bar, or the like. It is understood that some embodiments may not include an input device 1338. As described in more detail below, embodiments of the robot 1300 may include multiple input devices arranged on any surface of the housing 1310. In some embodiments, one or more of the input devices 1338 are configured as a fingerprint sensor for unlocking the robot. For example, only a user with a registered fingerprint can unlock and use the robot 1300.

[0045] The speaker 1340 (i.e., an audio output device) is coupled to the communication path 1320 and communicates with the processor 1330. The speaker 1340 transforms audio message data from the processor 1330 of the robot 1300 into sound-producing mechanical vibrations. For example, the speaker 1340 can provide the user with information for menu navigation, settings, status information, information relating to the environment as detected by image data from the one or more cameras 1344, and the like. However, it is understood that in other embodiments the robot 1300 may not include a speaker 1340.

[0046] The microphone 1342 is coupled to the communication path 1320 and communicates with the processor 1330. The microphone 1342 can be any device capable of transforming a sound-associated mechanical vibration into an electrical signal that indicates the sound. The microphone 1342 can be used as an input device 1338 to perform tasks such as navigating menus, entering settings and parameters, and any other tasks. It is understood that some embodiments may not include a microphone 1342.

[0047] As furthermore, with reference to Fig. As shown in Figure 13, the camera 1344 is coupled to the communication path 1320 and communicates with the processor 1330. The camera 1344 can be any device comprising an array of scanning devices (e.g., pixels) capable of detecting radiation in a wavelength band in the ultraviolet range, a wavelength band in the visible light range, or a wavelength band in the infrared range. The camera 1344 can have any resolution. The camera 1344 can be an omnidirectional camera or a panoramic camera. In some embodiments, one or more optical components can be coupled to the camera 1344, such as a mirror, a fisheye lens, or any other type of lens.As described in more detail below, the camera 1344 is a component of an imaging assembly 1322 which can be operated in such a way that it is raised above the housing 1310 to capture image data.

[0048] The network interface hardware 1346 is coupled to the communication path 1320 and communicates with the processor 1330. The network interface hardware 1346 can be any device capable of transmitting and / or receiving data over a network 1370. Accordingly, the network interface hardware 1346 can include a wireless communication module designed as a communication transceiver for sending and / or receiving any wired or wireless communication. For example, the network interface hardware 1346 can include an antenna, a modem, a LAN port, a Wi-Fi card, a WiMAX card, mobile communication hardware, near-field communication hardware, satellite communication hardware, and / or any wired or wireless hardware for communicating with other networks and / or devices.In one embodiment, the network interface hardware 1346 includes hardware designed to operate according to the Bluetooth protocol for wireless communication. In another embodiment, the network interface hardware 1346 may include a Bluetooth transceiver module for sending and receiving Bluetooth communication to / from a portable electronic device 1380. The network interface hardware 1346 may also include a radio-frequency identification (“RFID”) reader designed to query and read RFID tags.

[0049] In some embodiments, the robot 1300 can be coupled to a portable electronic device 1380 via the network 1370. In some embodiments, the network 1370 is a personal area network that uses Bluetooth technology to couple the robot 1300 and the portable electronic device 1380. In other embodiments, the network 1370 can include one or more computer networks (e.g., a personal area network, a local area network, or a wide area network), cellular networks, satellite networks, and / or global positioning systems, and combinations thereof. Accordingly, the robot 1300 can be coupled to the network 1370 via wires, a wide area network, a local area network, a personal area network, a cellular network, a satellite network, or the like.Suitable local area networks (LANs) can include wired Ethernet and / or wireless technologies such as Wi-Fi. Suitable personal area networks (PANs) can include wireless technologies such as IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and / or other near-field communication (NFC) protocols. Wired computer buses such as USB and FireWire can also be considered suitable PANs. Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM.

[0050] As furthermore, with reference to Fig. As shown in Figure 13, network 1370 can be used, as indicated above, to connect the robot 1300 to the portable electronic device 1380 for communication. The portable electronic device 1380 can be a mobile phone, a smartphone, a personal digital assistant, a camera, a dedicated mobile media player, a mobile personal computer, a laptop computer, and / or any other portable electronic device capable of communicating with the robot 1300. The portable electronic device 1380 can include one or more processors and one or more memory units. The one or more processors can execute logic to communicate with the robot 1300. The portable electronic device 1380 can be configured for wired and / or wireless communication functionality with the robot 1300.In some embodiments, the transportable electronic device 1380 can perform one or more elements of the functionality described herein, such as in embodiments in which the functionality described herein is distributed between the robot 1300 and the transportable electronic device 1380.

[0051] The tactile feedback device 1348 is coupled to the communication path 1320 and communicates with the processor 1330. The tactile feedback device 1348 can be any device capable of providing tactile feedback to a user. The tactile feedback device 1348 can include a vibration device (such as in embodiments where the tactile feedback is provided via vibration), an air blower device (such as in embodiments where the tactile feedback is provided via a puff of air), or a pressure-generating device (such as in embodiments where the tactile feedback is provided via generated pressure). It is understood that some embodiments may not include a tactile feedback device 1348.

[0052] The position sensor 1350 is coupled to the communication path 1320 and communicates with the processor 1330. The position sensor 1350 can be any device capable of generating an output indicating a position. In some embodiments, the position sensor 1350 includes a Global Positioning System (GPS) sensor, although the embodiments are not limited to this. Some embodiments may not include a position sensor 1350, such as embodiments in which the robot 1300 does not determine its position, or embodiments in which the position is determined by other means (e.g., based on information received from the camera 1344, the microphone 1342, the network interface hardware 1346, the proximity sensor 1354, the inertial measurement unit 1336, or the like).The position sensor 1350 can also be designed as a wireless signal sensor capable of triangulating the position of the robot 1300 and the user using wireless signals received by one or more wireless signal antennas.

[0053] The motorized wheel assembly 1358 is coupled to the communication path 1320 and communicates with the processor 1330. As described in more detail below, the motorized wheel assembly 1358 comprises motorized wheels (not shown) driven by one or more motors (not shown). The processor 1330 can provide one or more control signals to the motorized wheel assembly 1358 to actuate the motorized wheels, enabling the robot 1300 to move to a desired position, such as a position from which the user wishes to gather environmental information (e.g., the position of specific objects within or near the desired location).

[0054] As furthermore, with reference to Fig. As shown in Figure 13, the light 1352 is coupled to the communication path 1320 and communicates with the processor 1330. The light 1352 can be any device capable of emitting light, such as, but not limited to, a light-emitting diode, an incandescent lamp, a fluorescent light, or the like. Some embodiments include a network indicator light that is illuminated when the robot 1300 is powered on. Some embodiments include an activity indicator light that is illuminated when the robot 1300 is active or processing data. Some embodiments include lighting to illuminate the environment in which the robot 1300 is located. Some embodiments may not include a light 1352.

[0055] The proximity sensor 1354 is coupled to the communication path 1320 and communicates with the processor 1330. The proximity sensor 1354 can be any device capable of outputting a proximity signal indicating the robot 1300's proximity to another object. In some embodiments, the proximity sensor 1354 can be a laser scanner, a capacitive displacement sensor, a Doppler effect sensor, an eddy current sensor, an ultrasonic sensor, a magnetic sensor, an internal sensor, a radar sensor, a lidar sensor, a sonar sensor, or the like. Some embodiments may not include a proximity sensor 1354, such as embodiments in which the proximity of the robot 1300 to an object is determined by inputs provided by other sensors (e.g., the camera 1344, the speaker 1340, etc.), or embodiments that do not determine the proximity of the robot 1300 to an object 1315.

[0056] The temperature sensor 1356 is coupled to the communication path 1320 and communicates with the processor 1330. The temperature sensor 1356 can be any device capable of outputting a temperature signal indicating a temperature sampled by the temperature sensor 1356. In some embodiments, the temperature sensor 1356 may include a thermocouple, a resistive temperature device, an infrared sensor, a bimetallic device, a state-change sensor, a thermometer, a silicon diode sensor, or the like. Some embodiments of the robot 1300 may not include a temperature sensor 1356.

[0057] As furthermore, with reference to Fig.As shown in Figure 13, the robot 1300 is powered by the battery 1360, which is electrically coupled to the various electrical components of the robot 1300. The battery 1360 can be any device capable of storing electrical energy for later use by the robot 1300. In some embodiments, the battery 1360 is a rechargeable battery, such as a lithium-ion battery or a nickel-cadmium battery. In embodiments where the battery 1360 is rechargeable, the robot 1300 may include the charging port 1362, which can be used to recharge the battery 1360. Some embodiments may not include a battery 1360, such as embodiments where the robot 1300 is powered by the electrical grid, by solar energy, or by energy harvested from the environment.Some embodiments may not include charging port 1362, such as embodiments in which the device uses disposable batteries for power.

[0058] It is understood that the embodiments of the present disclosure relate to deformable sensors capable of detecting contact with an object as well as the geometric shape and pose of an object. One or more deformable sensors can, for example, be provided on a robot. The information provided by the deformable sensors can then be used to control the robot's interaction with target objects. The depth resolution and spatial resolution of the deformation sensors can vary depending on the position of the deformable sensors on the robot.

[0059] It should be noted that statements here indicating that a component of the present disclosure is "designed" or "programmed" in a particular way to realize a particular property or to function in a particular manner are structural statements, as opposed to statements of intended use. In particular, the statements here regarding the way in which a component is "designed" or "programmed" refer to an existing physical state of the component and are therefore to be understood as a definitive statement of the component's structural characteristics.

[0060] The order in which the operations are performed in the examples for the disclosure illustrated and described herein is not essential unless otherwise specified. That is to say, the operations may be performed in any order unless otherwise specified, and the examples for the disclosure may include additional or fewer operations than disclosed here. For example, it is considered that performing a particular operation before, at the same time as, or after another operation is within the scope of protection of the aspects of the disclosure.

[0061] It should be noted that the terms "essentially," "about," and "approximately" can be used here to represent the inherent degree of uncertainty that must be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also used here to indicate the degree to which a quantitative representation may deviate from a given reference without altering the fundamental function of the object in question.

Claims

[1] Robots (200) with touch sensitivity, comprising: multiple deformable sensors (100) with different degrees of depth resolution and spatial resolution for detecting a pose and force associated with an object (215), each deformable sensor (100) comprising: an encapsulation (113) comprising a deformable membrane (120), wherein the encapsulation (113) is designed to be filled with a medium; and an optical time-of-flight sensor (130) arranged in the encapsulation (113) with a field of view (132) designed to be directed towards a bottom side of the deformable membrane (120); and a first section (201) and a second section (202), each comprising at least one deformable sensor (100) of the multiple deformable sensors (100). [2] Robot according to claim 1, further comprising a processor (1202) designed to analyze a contact area in the deformable membrane (120) as a result of contact with the object, in order to determine both a pose of the object (215) and a magnitude of force applied between the deformable membrane (120) and the object (215). [3] Robot according to claim 1, wherein: the encapsulation (113) further comprises a housing (110) and the deformable membrane (120) is coupled to an upper section of the housing (110); the first section (201) and the second section (202) do not overlap; at least one of the deformable sensors (100) includes a clamping mechanism for attaching it to the robot (200); the first section (201) is designed to provide an aggregate spatial resolution that exceeds that of the second section (202); at least one of the deformable sensors (100) comprises several internal sensors; or the first section (201) comprises a first subset of the multiple deformable sensors (100). [4] Robot according to claim 3, wherein: the second section (202) comprises a second subset of the multiple deformable sensors (100); or at least two of the deformable sensors (100) differ in size. [5] Robot according to claim 1, wherein: the first section (201) is designed to interact with the object (215) in simultaneous coordination with a section of a second robot, wherein an aggregated spatial resolution of the first section (201) of the robot (200) is equal to that of the section of the second robot; or the first section (201) is designed to provide an aggregate spatial resolution that exceeds that of the second section (202), based on the following: a set of deformable sensors (100) in the first section (201); and a spatial resolution determined by each deformable sensor (100) in the first section (201). [6] Robot according to claim 1, wherein the depth resolution or spatial resolution of deformable sensors (100) in the first section (201) is designed based on a softness value received by the processor (1202) and belonging to an object (215) with which the first section (201) interacts, wherein the depth resolution or spatial resolution of deformable sensors (100) in the second section (202) is designed to differ from the corresponding depth resolution or spatial resolution of deformable sensors (100) in the first section (201), based on the fact that the first section (201) and the second section (202) are designed to interact with multiple objects (215) with different softness values. [7] Robots (200) with touch sensitivity, comprising: a first section (201) and a second section (202), each comprising at least one of several deformable sensors (100), wherein the several deformable sensors (100) comprise different degrees of depth resolution and spatial resolution for detecting a pose and force associated with an object (215), and wherein each deformable sensor (100) of the several deformable sensors (100) comprises the following: an encapsulation (113) comprising a deformable membrane (120), wherein the encapsulation (113) is designed to be filled with a medium; and an optical time-of-flight sensor (130) arranged in the encapsulation (113) with a field of view (132) designed to be directed through the medium and towards an underside of the deformable membrane (120); and a processor (1202) designed to analyze a contact area in the deformable membrane (120) as a result of contact with the object (215) in order to determine both a pose of the object (215) and a magnitude of force applied between the deformable membrane (120) and the object (215). [8] Robot according to claim 7, further comprising a first section (201) and a second section (202), each comprising at least one of the several deformable sensors (100). [9] Robot according to claim 8, wherein: wherein the depth resolution or spatial resolution of deformable sensors (100) in the first section (301) is designed based on a softness value received by the processor (1202) and belonging to an object (215) with which the first section (201) interacts, and the depth resolution or spatial resolution of deformable sensors (100) in the second section (202) is designed to differ from the corresponding depth resolution or spatial resolution of deformable sensors (100) in the first section (201), based on the fact that the first section (201) and the second section (202) are designed to interact with multiple objects (215) with different softness values; or the first section (201) is designed to provide an aggregate spatial resolution that exceeds that of the second section (202), based at least on the following: a set of deformable sensors (100) in the first section (201); and a spatial resolution determined by each deformable sensor (100) in the first section (201).

Images