Systems and methods for haptic intelligence

Abstract

The present invention relates generally to systems and methods for detecting, characterizing, and / or quantifying aspects of contact or touch interactions between specialized surfaces and other objects, and more specifically to integrations that may feature one or more deformable transmissive layers configured to support various aspects of haptic intelligence. One embodiment relates to a system for characterizing interactions between surfaces, the system comprising a deformable transmissive layer coupled to an interface membrane, a first illumination source, a detector, a computing system, and a secondary sensor.

Description

[Technical field]

[0001] CROSS REFERENCE TO RELATED APPLICATIONS: This application claims priority to U.S. Provisional Patent Application No. 63 / 316,915, filed March 4, 2022, which is incorporated by reference herein in its entirety.

[0002] Field of the invention: The present invention relates generally to systems and methods for detecting, characterizing, and / or quantifying aspects of contact or touch interactions between specialized surfaces and other objects, and more specifically to integration that may feature one or more deformable, transparent layers configured to support various aspects of tactile intelligence. [Background technology]

[0003] background: Computing, video communication, and various forms of remote presence have become important components of modern life with the proliferation of systems such as laptop computers, smartphones, and video teleconferencing. With reference to FIG. 1, a user (4) is shown in a typical work or home environment interacting simultaneously with both a laptop computer (2) and a smartphone (6). With reference to FIG. 2A, a so-called "smart watch" (8) is shown that is removably coupled to the wrist of the user (4). With reference to FIG. 2B, a smartphone (6) is shown being held by the user (4) with one hand (12) of the user (4) attempting to provide commands to the smartphone's (6) computing system using gesture information. While these exemplary systems (2, 6, 8) may be configured to process voice-based or gesture-based commands, for example, many of the operations of such devices continue to be performed through physical interfaces such as keyboards or touch screens, and much of the information exchanged during the voice of a video-based call is in the form of audio and / or video. With reference to FIG. 3A-3E, there are many efforts to utilize modern systems to improve the richness of interpersonal communication and / or so-called "remote presence." Figure 3A illustrates a laptop (2)-based videoconferencing configuration in which a user (4) can observe certain aspects of and communicate with a group of other participants via a matrix-style video user interface (14) viewed through a laptop display (16). Figure 3B illustrates a conference room-based videoconferencing system in which a group of local participants around a local conference table (20) can interact with remote participants through a relatively large display configured to show video of the remote participants via a videoconferencing user interface (18).With reference to FIG. 3C, another system allows a group of local participants (34) seated around a local conference table in a local conference room (22) to interact via video teleconferencing with a group of remote participants displayed via multiple integrated display / camera systems organized around the local conference table to help create or simulate the perception that all participants are in the same location, or to communicate at least to some extent as if all participants were in the same location when all participants are local. With reference to FIG. 3D and FIG. 3E, a video system may be utilized to help bring remote users into a local discussion regarding a scenario such as health care. FIG. 3D shows a configuration in which one user (4) from a first location can operate a multi-display (36, 38, 40) configuration, such as via one or more user input devices (44), to view video of a second operating location along with information and / or data related to the scenario, while a camera (42) captures video data of the participants (4) at the first location and provides a video feed to the second operating location for enhanced communication (i.e., beyond simple audio). Figure 3E illustrates a configuration in which a group of local healthcare providers (46, 48) with a patient (50) utilizes a cart (52) based configuration featuring a display (54) to generate a video image (58) of the remote participant, while video of the local environment is captured for the remote participant using a video camera (56) coupled to the cart (52). Figure 4 features a somewhat similar video communication system for healthcare, in which a remote user (58), such as a doctor, can navigate a local healthcare facility room (68) housing a patient (50) and a hospital bed (60) using an electro-mechanically movable system (62) to which a camera (64) and a display (66) are coupled to enable the remote user (58) to have a form of "remote presence" or "local presence" within the room (68).

[0004] While each of the aforementioned configurations has a level of utility beyond traditional voice calling, some argue that they remain lacking some of the key aspects of true local presence. As connectivity, computing, video, audio, and telecommunications technologies continue to improve, such systems will undoubtedly continue to evolve and move closer to live, local video presence. However, one important aspect of local presence not addressed by such systems is the sense of local "touch" at the remote participant, which may be relevant to the continued large demand for air travel in certain business, social, and other scenarios. The pervasiveness of touch and haptic intelligence in the modern human everyday experience is significant, and it is no coincidence that some individuals, such as those who are visually impaired, may very well rely heavily on touch and haptic intelligence to navigate the world. Because we have evolved to utilize the two perspectives of our eyes to develop a basic interpretation of the shape of objects, we can also utilize touch and haptic intelligence to understand important aspects of objects we physically encounter.

[0005] To consider a relatively simple example, one may consider a remote inspection scenario. If it is important in a given user scenario to closely inspect a particular object or surface for surface aberrations, potential stress concentrations, and / or deformations, such as the scenario of multiple rivets (72) holding an aircraft wing surface (70) in place as shown in FIG. 5A, one solution is to travel to the location of each such aircraft wing surface and personally (74) inspect such surface (70), such as by using an inspection light (76) configured to direct light across the surface (70) at an angle selected to reveal surface anomalies. Similarly, referring to FIG. 6A, if it is important to have a particular textured exterior paint finish for a smartphone (6) housing (80) design before approving it for mass production, or a particular fit between the smartphone (6) camera assembly (78) and the housing (80) that is "tight, but not overly tight," personnel will often fly around the world to perform in-person touch inspection of such parts. FIG. 6B shows another example where touch sensation can be highly beneficial in determining whether the crown (86), bezel (88), and / or button (84) materials, fits, and finishes for a watch (82) design are suitable for manufacturing. Finally, referring to FIG. 6C, touch sensation can be of high value in performing inspections when a removable band (90) for a smart watch (8) is designed to be slidably coupled and separated from the watch (8) by a not too stiff but firm engagement of these parts with a user's hand (94, 95). There is a need for technology to help users have touch sensation to extend traditional physical reach, such as to remote locations. Described herein are systems, methods, and configurations for enhancing and extending the properties of touch in various scenarios, as well as systems, methods, and configurations for utilizing such properties for various purposes, including but not limited to high-precision touch sensor implementations and configurations that can be utilized and configured to assist in providing a local user with the perception of touch on objects outside traditional reach, such as objects in a remote environment. Summary of the Invention [Means for solving the problem]

[0006] overview: One embodiment relates to a system for characterizing interactions between surfaces, the system comprising: a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operably coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer, such that at least a portion of the first illumination light interacts with the deformable transparent layer; a detector configured to detect light from within at least a portion of the deformable transparent layer; a computing system configured to operate the detector to detect at least a portion of the light directed from the deformable transparent layer and determine a surface orientation with respect to a position along the interface membrane based at least in part on the interaction of the first illumination light with the deformable transparent layer and utilize the determined surface orientation to characterize a geometric profile of at least one side of the interface-bonded object interfacing with the interface membrane; and a secondary sensor operably coupled to the computing system and configured to provide input that can be utilized by the computing system to further geometrically characterize the interface-bonded object. The secondary sensor may be coupled to the deformable transmissive layer. The system may further comprise a secondary sensor mounting structure coupled to the deformable transmissive layer, the secondary sensor being coupled to the secondary sensor mounting structure. The secondary sensor and the deformable transmissive layer may be in an operating environment comprising one or more wall structures, the secondary sensor being coupled to one of the one or more wall structures. The secondary sensor may be selected from the group consisting of an inertial measurement unit (IMU), a capacitive touch sensor, a resistive touch sensor, a LIDAR device, a strain sensor, a load sensor, a temperature sensor, and an image capture device. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer.The computing system may be operatively coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operatively coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0007] Another embodiment is a system for characterizing an interaction between surfaces, comprising: a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; a detector configured to detect light from within at least a portion of the deformable transparent layer; and operating the detector to detect at least a portion of the light directed from the deformable transparent layer and determine a position along the interface membrane based at least in part on the interaction of the first illumination light with the deformable transparent layer. and a robotic manipulator operatively coupled to the computing system and the deformable transparent layer, the robotic manipulator configured to controllably position and orient the deformable transparent layer relative to the interface-bonded object such that the geometric profile of the at least one side of the interface-bonded object interfacing with the interface membrane can be characterized with respect to the relative positions and orientations of the deformable transparent layer and the interface-bonded object, respectively. The robotic manipulator may comprise a robotic arm. The robotic arm may comprise a plurality of joints coupled by substantially rigid linkage members. The robotic manipulator may comprise a flexible robotic instrument. The system may further comprise an end effector coupled to the robotic manipulator. The end effector may comprise a gripper. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device.The system may further comprise a lens operatively coupled between the detector and the deformable transmissive layer.The computing system may be operatively coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operatively coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0008] Another embodiment is a system for characterizing a geometry of a portion of a user's appendage, comprising: a deformable transmissive layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transmissive layer and configured to emit a first illumination light into the deformable transmissive layer at a known first illumination direction relative to the deformable transmissive layer such that at least a portion of the first illumination light interacts with the deformable transmissive layer; a detector configured to detect light from within at least a portion of the deformable transmissive layer; and operating the detector to detect at least a portion of the light directed from the deformable transmissive layer and to detect a relationship between the first illumination light and the deformable transmissive layer. The present invention relates to a system comprising: a computing system configured to determine a surface orientation for a position along the interface membrane based at least in part on an interaction with the layer and to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface membrane; a secondary sensor operatively coupled to the computing system and configured to provide input that may be utilized by the computing system to further geometrically characterize the interfaced object; and a measurement housing configured to facilitate convenient engagement of a portion of a user's appendage, the measurement housing coupled to the deformable transmissive layer and the secondary sensor. The measurement housing may be configured to facilitate engagement of a plantar surface of a user's foot. The measurement housing may be configured to be positioned on a floor such that a user can stand on the measurement housing. The secondary sensor may be coupled to the deformable transmissive layer. The system may further comprise a secondary sensor mounting structure coupled to the deformable transmissive layer, the secondary sensor being coupled to the secondary sensor mounting structure. The secondary sensor and the deformable transmissive layer may be coupled to the measurement housing. The secondary sensor may be selected from the group consisting of an inertial measurement unit (IMU), a capacitive touch sensor, a resistive touch sensor, a LIDAR device, a strain sensor, a load sensor, a temperature sensor, and an image capture device. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector.The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may comprise a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may comprise a metal oxide. The interface film may comprise an elastomeric material.

[0009] Another embodiment is a system for characterizing an interface interaction with at least one side of an interface-bonded structure, the system including a plurality of touch sensing assemblies each positioned around a periphery of a distal portion of a substrate member, each of the plurality of touch sensing assemblies including a deformable transmissive layer coupled to an interface membrane, the interface membrane interfacing with at least one side of the interface-bonded structure; a first illumination source operatively coupled to the deformable transmissive layer and configured to emit a first illumination light into the deformable transmissive layer at a known first illumination direction relative to the deformable transmissive layer such that at least a portion of the first illumination light interacts with the deformable transmissive layer; and a detector configured to detect light from within at least a portion of the deformable transmissive layer. A system comprising: a plurality of touch sensing assemblies; and a computing system operatively coupled to each of the touch sensing assemblies and configured to operate each of the detectors to detect at least a portion of light directed from each deformable transmissive layer and determine a surface orientation associated with a position along each interface film based at least in part on an interaction of an associated first illumination light with the associated deformable transmissive layer, each of the plurality of touch sensing assemblies configured to interface with one or more sides of the interface-bonded structure to generally address a surface of the interface-bonded structure, and the computing system configured to utilize the determined surface orientation to characterize a geometric profile of the interface-bonded structure interfacing with the plurality of interface films. Each of the plurality of touch sensing assemblies may be positioned spaced apart around a perimeter of the distal portion of the substrate member. Each of the plurality of touch sensing assemblies may be positioned equally spaced apart around a perimeter of the distal portion of the substrate member. The plurality of touch sensing assemblies may comprise two touch sensing assemblies positioned diametrically opposite one another along a length of the substrate member. The multiple touch sensing assemblies may comprise three or more touch sensing assemblies positioned evenly distributed circumferentially relative to one another along the length of the substrate member.The substrate member may comprise an elongate member having a proximal end and a distal end and a member length therebetween, with each of the plurality of touch sensing assemblies positioned circumferentially at substantially equal lengths along the member length. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance greater than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interfacial film may include an elastomeric material.

[0010] Another embodiment is a system for characterizing interactions between surfaces, comprising: a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; and a detector configured to detect light from within at least a portion of the deformable transparent layer.

[0011] and a computing system configured to operate the detector to detect at least a portion of the light directed from the deformable transmissive layer, to determine a surface orientation with respect to a position along the interface film based at least in part on an interaction of the first illumination light with the deformable transmissive layer, and to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface film, the deformable transmissive layer and the computing system being coupled to a portion of a road vehicle and configured to assist in detecting one or more aspects of operation of the road vehicle. The deformable transmissive layer may be coupled to a portion of an interior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect one or more aspects of physical engagement between a user and the portion of the interior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect one or more aspects of contact between one or more parts of a user's body and the portion of the interior of the road vehicle. The deformable transmissive layer may be coupled to a portion of an exterior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect one or more aspects of physical engagement between an element of an environment external to the vehicle and the exterior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect a physical intrusion from an environment external to the vehicle causing deflection of one or more structures including an exterior surface of the road vehicle. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material.The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance that is higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0012] Another embodiment is a system for characterizing interactions between surfaces, comprising: a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; and a detector configured to detect light from within at least a portion of the deformable transparent layer.

[0013] and a computing system configured to operate the detector to detect at least a portion of the light directed from the deformable transmissive layer, determine a surface orientation with respect to a position along the interface membrane based at least in part on an interaction of the first illumination light with the deformable transmissive layer, and utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface membrane, the deformable transmissive layer and the computing system being coupled to a portion of a door lock system and configured to assist in authenticating a user prior to electromechanically converting the door lock system from a locked state to an unlocked state. The door lock system may be configured to utilize the deformable transmissive layer to biometrically authenticate a user. The door lock system may be configured to capture a geometric profile associated with an exterior surface of a portion of a user's appendage and compare the geometric profile to a previously stored geometric profile for authentication purposes. The exterior surface of the portion of the user's appendage may be a user's fingerprint. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may comprise a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may comprise a metal oxide. The interface film may comprise an elastomeric material.

[0014] Another embodiment is a handheld system for characterizing interactions between surfaces, comprising: a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; and a detector configured to detect light from within at least a portion of the deformable transparent layer.

[0015] and a computing system configured to operate the detector to detect at least a portion of the light directed from the deformable transmissive layer, determine a surface orientation with respect to a position along the interface membrane based at least in part on an interaction of the first illumination light with the deformable transmissive layer, and utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object that interfaces with the interface membrane, wherein the deformable transmissive layer and the computing system are coupled within a handheld system housing comprising a power source, the handheld system housing configured to facilitate manual operation by a user such that the user can manually position and orient the deformable transmissive layer to engage the interface membrane with the interfaced object. The system may further comprise a location determining sensor operably coupled to the handheld system housing and the computing system. The location determining sensor may be configured to be utilized by the computing system to determine a position of at least a portion of the handheld system housing within a global coordinate system. The computing system and the location determining sensor may further be configured to enable determining an orientation of at least a portion of the handheld system housing within the global coordinate system. The computing system and the localization sensor may be further configured to determine a position and an orientation of the deformable transmissive layer in a global coordinate system. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive information from the detector regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material.The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance that is higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0016] Another embodiment relates to a system for characterizing interactions between surfaces, the system comprising: a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer, such that at least a portion of the first illumination light interacts with the deformable transparent layer; a detector configured to detect light from within at least a portion of the deformable transparent layer; and a computing system configured to operate the detector to detect at least a portion of the light directed from the deformable transparent layer and determine a surface orientation with respect to a position along the interface membrane based at least in part on the interaction of the first illumination light with the deformable transparent layer, and utilize the determined surface orientation to characterize a geometric profile of at least one side of the interface-bonded object interfacing with the interface membrane, the deformable transparent layer comprising a material of known structural elasticity such that a load at an interface between the deformable transparent layer and the interface-bonded object can be estimated by the computing system. The deformable transmissive layer may have a known elastic modulus. The deformable transmissive layer may have an unloaded shape configuration that may be deformed when loaded to the loaded shape, and the computing system is configured to determine one or more aspects of a load acting on the deformable transmissive layer when in the loaded shape based on the loaded shape configuration and a material of known structural elastic modulus that comprises the deformable transmissive layer. The computing system may be configured to determine one or more aspects of a load on the deformable transmissive layer selected from the group consisting of a tensile load, a compressive load, a bending load, a shear load, and a torsional load. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer.The computing system may be operatively coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operatively coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0017] Another embodiment is a system for characterizing interactions between surfaces, comprising a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; a detector configured to detect light from within at least a portion of the deformable transparent layer; and operating the detector to detect at least a portion of the light directed from the deformable transparent layer and to detect at least a portion of the interaction of the first illumination light with the deformable transparent layer. and a computing system configured to determine a surface orientation for a position along the interface membrane based at least in part on the first touch-conversion interface and to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface membrane; and a touch-conversion interface coupled to a side of a user's appendage and operably coupled to the computing system, the touch-conversion interface configured to translate one or more aspects of the characterized geometric profile to a side of the user's appendage such that the user can intuitively experience one or more aspects of a physical engagement between the deformable transmissive layer and the interfaced object. The touch-conversion interface may be coupled to the user's appendage at a location selected from the group consisting of a user's finger, a user's wrist, and a user's forearm. The touch-conversion interface may be coupled to the side of the user's appendage at a location selected such that there is a kinematic similarity between the location and a location of the deformable transmissive layer. The system may further comprise a second touch-conversion interface coupled to a second side of the user's appendage. The first and second touch-conversion interfaces may be longitudinally displaced relative to one another when coupled to the user's appendage. The first illumination source may comprise a light-emitting diode. The detector may comprise a photodetector.The detector may comprise an image capture device.The image capture device may be a CCD or CMOS device.The system may further comprise a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may comprise a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may comprise a metal oxide. The interface film may comprise an elastomeric material.

[0018] Another embodiment is a system for robotic medical intervention comprising a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded tissue structure; a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; a detector configured to detect light from within at least a portion of the deformable transparent layer; and operating the detector to detect at least a portion of the light directed from the deformable transparent layer and determine a position along the interface membrane based at least in part on the interaction of the first illumination light with the deformable transparent layer. and utilizing the determined surface orientation to characterize a geometric profile of at least one side of the interface-bonded tissue structure interfacing with the interface membrane; and a robotic medical device operatively coupled to the computing system and the deformable transparent layer, the robotic medical device configured to controllably position and orient the deformable transparent layer with respect to the interface-bonded tissue structure such that a geometric profile of at least one side of the interface-bonded tissue structure interfacing with the interface membrane can be characterized with respect to the relative positions and orientations of the deformable transparent layer and the interface-bonded object, respectively. The robotic medical device may comprise a robotic arm. The robotic arm may comprise a plurality of joints coupled by substantially rigid linkage members. The robotic medical device may comprise a flexible robotic device. The robotic medical device may comprise a medical end effector coupled to the robotic medical device. The medical end effector may comprise a gripper. The first illumination source may comprise a light emitting diode. The detector may comprise a light detector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device.The system may further comprise a lens operatively coupled between the detector and the deformable transmissive layer.The computing system may be operatively coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operatively coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0019] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transparent layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; operating the detector to detect at least a portion of the light directed from the deformable transparent layer and to characterize the first illumination light and the deformable transparent layer; The present invention relates to a method, the method comprising: providing a computing system configured to determine a surface orientation with respect to a position along an interface film based at least in part on an interaction with the interface film and to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interface-bonded object that interfaces with the interface film; providing a secondary sensor operatively coupled to the computing system and configured to provide input that can be utilized by the computing system to further geometrically characterize the interface-bonded object; and utilizing the computing system to determine the surface orientation and to further geometrically characterize the interface-bonded object using the input from the secondary sensor. The secondary sensor may be coupled to the deformable transmissive layer. The method may further include providing a secondary sensor mounting structure coupled to the deformable transmissive layer, the secondary sensor being coupled to the secondary sensor mounting structure. The secondary sensor and the deformable transmissive layer may be present in an operating environment comprising one or more wall structures, the secondary sensor being coupled to one of the one or more wall structures. The secondary sensor may be selected from the group consisting of an inertial measurement unit (IMU), a capacitive touch sensor, a resistive touch sensor, a LIDAR device, a strain sensor, a load sensor, a temperature sensor, and an image capture device. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device.The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0020] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transparent layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer, such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; operating the detector to detect at least a portion of the light directed from the deformable transparent layer; determining a surface orientation with respect to a position along the interface film based at least in part on the interaction of the first illumination light with the deformable transparent layer; and utilizing the determined surface orientation to characterize at least one side of the interface-bonded object interfacing with the interface film. and providing a robotic manipulator operatively coupled to the computing system and the deformable transparent layer, the robotic manipulator configured to controllably position and orient the deformable transparent layer relative to the interface-bonded object such that the computing system can characterize a geometric profile of at least one side of the interface-bonded object interfacing with the interface membrane with respect to a relative position and orientation of each of the deformable transparent layer and the interface-bonded object, and operating the robotic manipulator utilizing the computing system to controllably position and orient the deformable transparent layer relative to the interface-bonded object and characterize a geometric profile of at least one side of the interface-bonded object interfacing with the interface membrane. The robotic manipulator may comprise a robotic arm. The robotic arm may comprise a plurality of joints coupled by substantially rigid linkage members. The robotic manipulator may comprise a flexible robotic device. The method may further include providing an end effector coupled to the robotic manipulator. The end effector may comprise a gripper.The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may comprise a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may comprise a metal oxide. The interface film may comprise an elastomeric material.

[0021] Another embodiment is a method for characterizing a geometry of a portion of a user's appendage, comprising: providing a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer, such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; operating the detector to detect at least a portion of the light directed from the deformable transparent layer and determine a surface orientation with respect to a position along the interface membrane based at least in part on the interaction of the first illumination light with the deformable transparent layer; The method includes providing a computing system configured to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface membrane; providing a secondary sensor operably coupled to the computing system and configured to provide input that can be utilized by the computing system to further geometrically characterize the interfaced object; providing a measurement housing configured to facilitate convenient engagement of a portion of a user's appendage, the measurement housing coupled to a deformable transmissive layer and the secondary sensor; and utilizing the computing system and the measurement housing to operate the detector and the secondary sensor to characterize a geometric profile of at least one side of the interfaced object interfacing with the interface membrane. The measurement housing may be configured to facilitate engagement of a plantar surface of a user's foot. The measurement housing may be configured to be positioned on a floor such that a user can stand on the measurement housing. The secondary sensor may be coupled to the deformable transmissive layer. The method may further include providing a secondary sensor mounting structure coupled to the deformable transmissive layer, the secondary sensor coupled to the secondary sensor mounting structure. The secondary sensor and the deformable transmissive layer may be coupled to the measurement housing.The secondary sensor may be selected from the group consisting of an inertial measurement unit (IMU), a capacitive touch sensor, a resistive touch sensor, a LIDAR device, a strain sensor, a load sensor, a temperature sensor, and an image capture device. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance greater than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interfacial film may include an elastomeric material.

[0022] Another embodiment is a method for characterizing an interface interaction with at least one side of an interface-bonded structure, comprising: a plurality of touch sensing assemblies, each positioned around a periphery of a distal portion of a substrate member, each of the plurality of touch sensing assemblies comprising: a deformable transmissive layer coupled to an interface membrane, the interface membrane interfacing with at least one side of the interface-bonded structure; a first illumination source operatively coupled to the deformable transmissive layer and configured to emit a first illumination light into the deformable transmissive layer at a known first illumination direction relative to the deformable transmissive layer such that at least a portion of the first illumination light interacts with the deformable transmissive layer; and a detector configured to detect light from within at least a portion of the deformable transmissive layer. a computing system operatively coupled to each of the touch sensing assemblies and configured to operate each of the detectors to detect at least a portion of light directed from each deformable transmissive layer and determine a surface orientation associated with a position along each interface film based at least in part on an interaction of an associated first illumination light with the associated deformable transmissive layer; configuring each of the plurality of touch sensing assemblies to interface with one or more sides of the interface-bonded structure to generally address a surface of the interface-bonded structure; and operating the computing system to utilize the determined surface orientation to characterize a geometric profile of the interface-bonded structure interfacing with the plurality of interface films. Each of the plurality of touch sensing assemblies may be positioned spaced apart around a perimeter of a distal portion of the substrate member. Each of the plurality of touch sensing assemblies may be positioned equally spaced apart around a perimeter of the distal portion of the substrate member. The plurality of touch sensing assemblies may comprise two touch sensing assemblies positioned diametrically opposite one another along a length of the substrate member. The multiple touch sensing assemblies may comprise three or more touch sensing assemblies positioned evenly distributed circumferentially relative to one another along the length of the substrate member.The substrate member may comprise an elongate member having a proximal end and a distal end and a member length therebetween, with each of the plurality of touch sensing assemblies positioned circumferentially at substantially equal lengths along the member length. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance greater than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interfacial film may include an elastomeric material.

[0023] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transparent layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; and providing a detector. to detect at least a portion of light directed from the deformable transmissive layer, to determine a surface orientation with respect to a position along the interface film based at least in part on an interaction of a first illumination light with the deformable transmissive layer, and to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface film; and configuring the deformable transmissive layer and the computing system to be coupled to a portion of a road vehicle and configured to assist in detecting one or more aspects of operation of the road vehicle. The deformable transmissive layer may be coupled to a portion of an interior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect one or more aspects of physical engagement between a user and the portion of the interior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect one or more aspects of contact between one or more parts of a user's body and the portion of the interior of the road vehicle. The deformable transmissive layer may be coupled to a portion of an exterior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect one or more aspects of physical engagement between an element of an environment external to the vehicle and the exterior of the road vehicle. The deformable transmissive layer may be configured to be utilized by the computing system to detect a physical intrusion from an environment external to the vehicle causing deflection of one or more structures including an exterior surface of the road vehicle. The first illumination source may comprise a light emitting diode.The detector may comprise a light detector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may comprise a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may comprise a metal oxide. The interface film may comprise an elastomeric material.

[0024] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transmissive layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transmissive layer and configured to emit a first illumination light into the deformable transmissive layer at a known first illumination direction relative to the deformable transmissive layer such that at least a portion of the first illumination light interacts with the deformable transmissive layer; providing a detector configured to detect light from within at least a portion of the deformable transmissive layer; and operating the detector to detect an illumination source at the interface film of the deformable transmissive layer. The method includes providing a computing system configured to detect at least a portion of light directed from the layer, determine a surface orientation with respect to a location along the interface membrane based at least in part on an interaction of a first illumination light with the deformable transmissive layer, and utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface membrane, and configuring the deformable transmissive layer and the computing system to be coupled to a portion of a door lock system and configured to assist in authenticating a user prior to electromechanically converting the door lock system from a locked state to an unlocked state. The door lock system may be configured to biometrically authenticate a user utilizing the deformable transmissive layer. The door lock system may be configured to capture a geometric profile associated with an exterior surface of a portion of a user's appendage and compare the geometric profile to a previously stored geometric profile for authentication purposes. The exterior surface of the portion of the user's appendage may be a user's fingerprint. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. A computing system may be operatively coupled to the detector and configured to receive information from the detector relating to light detected by the detector from within the deformable transmissive layer.The computing system may be operatively coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0025] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transparent layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; operating the detector to detect at least a portion of the light directed from the deformable transparent layer and detect the first illumination light. and providing a computing system configured to determine a surface orientation with respect to a position along an interface membrane based at least in part on an interaction between the interface membrane and a deformable transmissive layer and to utilize the determined surface orientation to characterize a geometric profile of at least one side of an interfaced object interfacing with the interface membrane; and coupling the deformable transmissive layer and the computing system into a handheld system housing comprising a power source, the handheld system housing configured to facilitate manual operation by a user such that the user can manually position and orient the deformable transmissive layer to engage the interface membrane with the interfaced object. The method may further include providing a location determining sensor operably coupled to the handheld system housing and the computing system. The location determining sensor may be configured to be utilized by the computing system to determine a position of at least a portion of the handheld system housing within a global coordinate system. The computing system and the location determining sensor may be further configured to be capable of determining an orientation of at least a portion of the handheld system housing within the global coordinate system. The computing system and the location determining sensor may be further configured to be capable of determining a position and an orientation of the deformable transmissive layer within the global coordinate system. The first illumination source may comprise a light emitting diode.The detector may comprise a photodetector.The detector may comprise an image capture device.The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0026] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transparent layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; and operating the detector. and providing a computing system configured to detect at least a portion of light directed from the deformable transmissive layer, determine a surface orientation with respect to a position along the interface film based at least in part on an interaction of a first illumination light with the deformable transmissive layer, and use the determined surface orientation to characterize a geometric profile of at least one side of an interface-bonded object interfacing with the interface film, and configure the deformable transmissive layer to include a material of known structural modulus such that a load at an interface between the deformable transmissive layer and the interface-bonded object can be estimated by the computing system. The deformable transmissive layer may comprise a known elastic modulus. The deformable transmissive layer may comprise an unloaded shape configuration that can be deformed when loaded to a loaded shape, and the computing system is configured to determine one or more aspects of a load acting on the deformable transmissive layer when in the loaded shape based on the loaded shape configuration and the material of known structural modulus that configures the deformable transmissive layer. The computing system may be configured to determine one or more aspects of a load on the deformable transmissive layer selected from the group consisting of a tensile load, a compressive load, a bending load, a shear load, and a torsional load. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer.The computing system may be operatively coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operatively coupled to the first illumination source and configured to control radiation from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material.

[0027] Another embodiment is a method for characterizing an interaction between surfaces, comprising: providing a deformable transparent layer coupled to an interface film, the interface film interfacing with at least one side of an interface-bonded object; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer, such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; operating the detector to detect at least a portion of the light directed from the deformable transparent layer; and determining a surface orientation with respect to a position along the interface film based at least in part on the interaction of the first illumination light with the deformable transparent layer; The present invention relates to a method for a touch-conversion interface that includes providing a computing system configured to characterize a geometric profile of at least one side of an interfaced object that interfaces with an interface membrane using a surface orientation; providing a touch-conversion interface coupled to a side of a user's appendage and operably coupled to the computing system, the touch-conversion interface configured to translate one or more aspects of the characterized geometric profile to a side of the user's appendage such that the user can intuitively experience one or more aspects of a physical engagement between the deformable transmissive layer and the interfaced object; and operating the touch-conversion interface using the computing system such that the user can intuitively experience one or more aspects of a physical engagement between the deformable transmissive layer and the interfaced object. The touch-conversion interface may be coupled to the user's appendage at a location selected from the group consisting of a user's finger, a user's wrist, and a user's forearm. The touch-conversion interface may be coupled to the side of the user's appendage at a location selected such that there is a kinematic similarity between the location and a location of the deformable transmissive layer. The method may further include providing a second touch-conversion interface coupled to a second side of the user's appendage.The first and second touch conversion interfaces may be longitudinally displaced relative to one another when coupled to the user's appendage. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector. The detector may comprise an image capture device. The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may comprise an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may comprise a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance greater than an illumination reflectance of the elastomeric matrix. The pigment material may comprise a metal oxide. The interface membrane may comprise an elastomeric material.

[0028] Another embodiment is a method for robotic medical intervention comprising: providing a deformable transparent layer coupled to an interface membrane, the interface membrane interfacing with at least one side of an interface-bonded tissue structure; providing a first illumination source operatively coupled to the deformable transparent layer and configured to emit a first illumination light into the deformable transparent layer at a known first illumination direction relative to the deformable transparent layer such that at least a portion of the first illumination light interacts with the deformable transparent layer; providing a detector configured to detect light from within at least a portion of the deformable transparent layer; operating the detector to detect at least a portion of the light directed from the deformable transparent layer; determining a surface orientation for a position along the interface membrane based at least in part on the interaction of the first illumination light with the deformable transparent layer; and utilizing the determined surface orientation to determine a surface orientation between the interface membrane and the interface membrane. and providing a robotic medical device operatively coupled to the computing system and the deformable transparent layer, the robotic medical device configured to controllably position and orient the deformable transparent layer with respect to the interface-bonded tissue structure such that the geometric profile of the at least one side of the interface-bonded tissue structure interfaced with the interface membrane can be characterized with respect to a relative position and orientation of each of the deformable transparent layer and the interface-bonded object, and utilizing the computing system to operate the robotic medical device to characterize the geometric profile of the at least one side of the interface-bonded tissue structure interfaced with the interface membrane. The robotic medical device may comprise a robotic arm. The robotic arm may comprise a plurality of joints coupled by a substantially rigid linkage member. The robotic medical device may comprise a flexible robotic device. The robotic medical device may comprise a medical end effector coupled to the robotic medical device. The medical end effector may comprise a gripper. The first illumination source may comprise a light emitting diode. The detector may comprise a photodetector.The detector may comprise an image capture device.The image capture device may be a CCD or CMOS device. The method may further include providing a lens operably coupled between the detector and the deformable transmissive layer. The computing system may be operably coupled to the detector and configured to receive from the detector information regarding light detected by the detector from within the deformable transmissive layer. The computing system may be operably coupled to the first illumination source and configured to control emission from the first illumination source. The deformable transmissive layer may include an elastomeric material. The elastomeric material may be selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU). The deformable transmissive layer may include a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance higher than an illumination reflectance of the elastomeric matrix. The pigment material may include a metal oxide. The interface film may include an elastomeric material. [Brief description of the drawings]

[0029] Brief description of the drawings: [Figure 1] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 2A] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 2B] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 3A] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 3B] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 3C] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 3D]1-4 illustrate various aspects of conventional computing and communication systems. [Figure 3E] 1-4 illustrate various aspects of conventional computing and communication systems. [Figure 4] 1-4 illustrate various aspects of conventional computing and communication systems.

[0030] [Figure 5A] 5A-6C illustrate various aspects of a scenario in which an improved understanding of a surface shape or profile would be useful. [Figure 5B] 5A-6C illustrate various aspects of a scenario in which an improved understanding of a surface shape or profile would be useful. [Figure 6A] 5A-6C illustrate various aspects of a scenario in which an improved understanding of a surface shape or profile would be useful. [Figure 6B] 5A-6C illustrate various aspects of a scenario in which an improved understanding of a surface shape or profile would be useful. [Figure 6C] 5A-6C illustrate various aspects of a scenario in which an improved understanding of a surface shape or profile would be useful.

[0031] [Figure 7A] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7B] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7C] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7D] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7E]7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7F] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7G] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 7H] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer. [Figure 8] 7A-7H and 8 show various aspects of a touch sensing assembly that is configured to utilize a deformable transmissive layer.

[0032] [Figure 9A] 9A and 9B show an assembly of multiple touch sensing assemblies such as those shown in FIGS. 7A-7H. [Figure 9B] 9A and 9B show an assembly of multiple touch sensing assemblies such as those shown in FIGS. 7A-7H.

[0033] [Figure 10A] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10B] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10C] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10D] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10E]10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10F] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10G] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10H] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein. [Figure 10I] 10A-10I illustrate various aspects of embodiments of touch sensing assemblies that may feature one or more secondary sensor configurations incorporated therein.

[0034] [Figure 11] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 12] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 13A] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 13B] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 13C] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 13D] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 13E] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 13F] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 14] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface. [Figure 15] 11-15 illustrate aspects of touch sensing assembly integration that may utilize electromechanical systems such as robots to gain additional tactile intelligence regarding a target object or surface.

[0035] [Figure 16A] 16A-16B and 17 show aspects of configurations that may utilize one or more touch sensing assemblies to at least partially characterize a portion of an appendage, such as a portion of a user's leg or arm. [Figure 16B] 16A-16B and 17 show aspects of configurations that may utilize one or more touch sensing assemblies to at least partially characterize a portion of an appendage, such as a portion of a user's leg or arm. [Figure 17] 16A-16B and 17 show aspects of configurations that may utilize one or more touch sensing assemblies to at least partially characterize a portion of an appendage, such as a portion of a user's leg or arm.

[0036] [Figure 18A]18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18B] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18C] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18D] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18E] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18F]18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18G] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18H] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18I] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18J] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18K]18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices. [Figure 18L] 18A-18L show aspects of configurations for incorporating one or more touch sensing assemblies into sophisticated systems that may include controlled electromechanical movement, such as by a robot, and placement of deformable transmissive layers around the exterior geometric profiles of the various assemblies, such as at various locations along the length of the various assemblies, as well as peripherally for elongated devices.

[0037] [Figure 19A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 19B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 20A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 20B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 20C]19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 21A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 21B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 21C] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 21D] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 22] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 23A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 23B]19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 24A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 24B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 25A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 25B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 26] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 27] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 28A]19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 28B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 29A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 29B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 29C] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 29D] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30B]19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30C] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30D] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30E] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30F] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 30G] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 31A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 31B]19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 31C] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 31D] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 31E] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 32A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 32B] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 33A] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Figure 33B]19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Diagram 34] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement. [Diagram 35] 19A-35 illustrate integration aspects of systems and methods that may utilize one or more touch sensing assemblies to assist in translating a physical engagement back to a user at a workstation that may be local or remote to the physical engagement.

[0038] [Diagram 36] Figures 36, 39, 40, 42 and 46-47 show integration aspects of medical systems and methods that may utilize one or more touch sensing assemblies to assist in translating physical engagement at a tissue intervention site back to a user at a workstation that may be local or remote to the physical engagement of the tissue.

[0039] [Figure 37] 37 and 41 illustrate integration aspects of gaming or virtual engagement systems and methods that may utilize one or more simulated touch sensing assemblies to assist in the translation of physical engagement at a user interface workstation.

[0040] [Figure 38A] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Figure 38B]38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Figure 38C] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Figure 38D] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Figure 38E] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Figure 38F] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Figure 39] Figures 36, 39, 40, 42 and 46-47 show integration aspects of medical systems and methods that may utilize one or more touch sensing assemblies to assist in translating physical engagement at a tissue intervention site back to a user at a workstation that may be local or remote to the physical engagement of the tissue. [Diagram 40] Figures 36, 39, 40, 42 and 46-47 show integration aspects of medical systems and methods that may utilize one or more touch sensing assemblies to assist in translating physical engagement at a tissue intervention site back to a user at a workstation that may be local or remote to the physical engagement of the tissue. [Diagram 41] 37 and 41 illustrate integration aspects of gaming or virtual engagement systems and methods that may utilize one or more simulated touch sensing assemblies to assist in the translation of physical engagement at a user interface workstation. [Diagram 42] Figures 36, 39, 40, 42 and 46-47 show integration aspects of medical systems and methods that may utilize one or more touch sensing assemblies to assist in translating physical engagement at a tissue intervention site back to a user at a workstation that may be local or remote to the physical engagement of the tissue. [Diagram 43] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Diagram 44] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Diagram 45] 38A-38F and 43-45 illustrate an integration aspect that may utilize one or more sensing assemblies to help characterize one or more critical work members of an assembly or machine. [Diagram 46] Figures 36, 39, 40, 42 and 46-47 show integration aspects of medical systems and methods that may utilize one or more touch sensing assemblies to assist in translating physical engagement at a tissue intervention site back to a user at a workstation that may be local or remote to the physical engagement of the tissue. [Figure 47] Figures 36, 39, 40, 42 and 46-47 show integration aspects of medical systems and methods that may utilize one or more touch sensing assemblies to assist in translating physical engagement at a tissue intervention site back to a user at a workstation that may be local or remote to the physical engagement of the tissue.

[0041] [Figure 48] 48-50 illustrate aspects of integration that may utilize one or more sensing and / or touch translation interfaces to support the local user sensory experience as well as facilitate commands issued by the user. [Figure 49]48-50 illustrate aspects of integration that may utilize one or more sensing and / or touch translation interfaces to support the local user sensory experience as well as facilitate commands issued by the user. [Figure 50] 48-50 illustrate aspects of integration that may utilize one or more sensing and / or touch translation interfaces to support the local user sensory experience as well as facilitate commands issued by the user. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] Detailed Description: Referring to FIG. 7A, a digital touch sensing assembly (146) is shown featuring a deformable transmissive layer (110) operatively coupled to an optical element (108) illuminated by one of a plurality of interconnected light sources (116, 122) and positioned within the field of view of an imaging device (106). A housing (118) is configured to hold the components in position relative to one another and expose a touch-sensitive contact surface (120). An interface membrane (100), which may comprise a fixedly attached or removably coupled substantially thin layer comprising a polymeric material with a relatively low bulk modulus, may be positioned and operatively coupled to the deformable transmissive layer for direct contact between another object and the digital touch sensing assembly (146) for touch determination and characterization, or may comprise a portion of the deformable transmissive layer, such that in a configuration in which the interface membrane (100) is coupled to or comprises a portion of the deformable transmissive layer, the final outer touch contact surface (120) is the outer side of such interface membrane (100). Aspects of suitable digital touch sensing assembly (146) construction, generally featuring elastomeric deformable transmission layer materials, are described, for example, in U.S. Pat. Nos. 10,965,854, 9,127,938, and 8,411,140, ​​each of which is incorporated herein by reference in its entirety. As shown in FIG. 7A , the illustrated digital touch sensing assembly (146) may feature gaps or voids (114), which may include an optically transparent material (such as one having a refractive index similar to that of the optical element (108)), air, or a specialty gas such as an inert gas, geometrically configured to position a side of the optical element (108) and / or the deformable transparent layer (110) within a desired proximity of the imaging device (106), and may comprise an imaging sensor such as a digital camera chip, a single light sensing element (such as a photodiode), or an array of light sensing elements, and may be configured to have a field of view and depth of field facilitated by the geometric gaps or voids (114) (i.e., the gaps or voids 114 may be positioned to accommodate the field of view and / or depth for a particular imaging device 106).In various embodiments, the optical element (108) can include a substantially rigid material, a material of known elastic modulus, or a material of known structural elastic modulus (i.e., given an unloaded shape and a loaded shape, a load profile can be determined given structural elastic modulus information related to the shape). Various suitable optical elements (108) can define shapes including, for example, a cylinder, a cube, and / or a rectangular prism. As shown and described below, various illumination sources can be coupled to one or more sidewall surfaces that define the optical element (108). In another embodiment, the optical element (108) can be configured to be deformable or conformable such that the impact of such structural stiffness on other associated elements is minimized (i.e., impulse loads such as force / delta time can be minimized with greater shock compliance. Additionally, a lower structural elastic modulus at the contact interface can maintain greater surface contact over a given surface, such as one with topography or geometric features).

[0043] Also shown in Figure 7A is a computing device or system (104), which may comprise a computer, microcontroller, field programmable gate array, application specific integrated circuit, or the like, configured to be operably coupled (128) to an imaging device (106) to facilitate control of these devices in collecting data regarding touches on the deformable transmissive layer (110), and configured to be operably coupled (124, 126) to one or more light sources (30). For example, in one embodiment, as shown in Figure 7A, each of the light sources (116, 122) comprises a light emitting diode ("LED") operably coupled (124, 126) to the computing device (104) using electronic leads (124, 126), and the imaging device (106) comprises a digital camera sensor chip operably coupled to the computing device using electronic leads (128). The power source (102) can be operatively coupled to the computing device (104) to provide power for computing device (104) and can also be configured to controllably provide power to interconnected devices, such as the imaging device (106) and light sources (116, 122) via their couplings (128, 124, 126, respectively). As shown in FIG. 7A , the separation (640) is depicted to indicate that these coupling interfaces (128, 124, 126) can be short or relatively long (i.e., the digital touch sensing assembly 146 can be remote relative to the computing device 104) and can be a direct physical connection or transmission of data via a wired or wireless interface, such as via an optical / optical networking protocol, or a wireless networking protocol such as Bluetooth® (RTM) or an 802.11-based configuration, which can be facilitated by additional computing and power resources local to the digital touch sensing assembly (146).

[0044] Referring to Figure 7B, a similar configuration to that shown in Figure 7A is shown, except that the deformable transmissive layer (110) of Figure 7B includes one or more bladders or enclosed volumes (112) that may be occupied, for example, by a fluid (such as a liquid or gas that can be physically handled as a fluid form). In one embodiment, for example, the deformable transmissive layer (110) may include several separately controllable expandable segments or sub-volumes and may include a cross-sectional shape selected to provide a particular mechanical performance under load, such as a controllable honeycomb-type cross-sectional shape configuration. As previously mentioned, the deformable transmissive layer (110) may include a material selected to fit the touch sensing paradigm in terms of bulk and / or Young's modulus. In other words, for sensing relatively low loads, such as a soap bubble or a digital touch scenario interfacing with the surface of a living photosynthetic leaf of a plant, a relatively low modulus (i.e., generally locally flexible / deformable and not rigid) material, such as an elastomer, may be utilized for the deformable transmission layer (110) and / or the outer interface membrane (100), which may be removable as described above, for example, as described in the above-mentioned incorporated references. The outer interface membrane (100) may include an assembly of relatively thin, continuously removable membranes, which may be continuously removed when bonded to dirt or dust, for example, in a "peel-off" type of manner. In embodiments such as that shown in FIG. 7B , in which the deformable transmission layer (110) comprises at least a temporarily trapped volume of liquid or gas, the gas or liquid, along with its pressure, can be modulated (e.g., pressure and / or volume may be adjusted relative to one or more bladder segments 112) to address a desired overall bulk modulus and sensitivity of the deformable transmission layer (110) to change the functional modulus of the deformable transmission layer (110) overall.

[0045] Referring to FIG. 7C, a configuration similar to that of FIG. 7A is shown, illustrating that the gap (130) between the imaging device (106) and the optical element (108) can be reduced or even eliminated depending on the optical layout of the imaging device (106), which can be interconnected with refractive optics and / or diffractive optics to change characteristics such as the focal length of the imaging device (106).

[0046] Referring to Figure 7D, a configuration similar to that of Figure 7A is shown, except that the configuration of Figure 7D illustrates that one or more light sources may be more similar to light emitters (117, 123) configured to emit light that originates elsewhere, such as coupled directly to the computing device (104) and coupled to one or more light LED sources configured to transmit light via optical fibers, "light pipes," or waveguides through optically transparent coupling members (132, 134), and may be configured to pass photons from such light sources to the emitters (117, 123) as efficiently as possible, such as via total internal reflection.

[0047] Similarly, referring to FIG. 7E, a configuration similar to that of FIG. 7D is shown in which the imaging device (107) includes capture optics selected to collect photons and transmit them through an optically transparent coupling member (138), such as a waveguide or one or more optical fibers, to an image sensor that may be located within or coupled to the computing device (104) or other structure that may exist separate from the digital touch sensing assembly (146).

[0048] 7F-7H, various aspects of a digital touch sensing assembly (146) configuration featuring a deformable transmissive layer (110) that may be utilized to characterize interactions between surfaces are shown. For example, with reference to FIG. 7F, in a simplified exemplary embodiment, a computing system or device (104) operably coupled (136) to a power source (102) may be utilized to control light (1002) or other radiation from an illumination source (116) that may be directed to the deformable transmissive layer (110) via a control coupling (124), which may be wired or wireless. The deformable transparent layer (110) is biased (1006) against at least a portion of an interface-bonded object (1004), such as the edge of a coin, and based on the interaction of the illumination (1002) with the deformable transparent layer (110), a detector, such as an image capture device (such as a CCD or CMOS device), which may be operatively coupled (128), such as by a wired or wireless connection, to the computing system (104), may be configured to detect at least a portion of the light directed from the deformable transparent layer. In other words, with an illumination source (116) operably coupled (e.g., optically coupled with an efficient transmissive interface) to pass illumination in a known direction relative to the deformable transmissive layer such that at least a portion of the illumination light interacts with the deformable transmissive layer, and a detector configured to detect light from within at least a portion of the deformable transmissive layer, the computing system can be configured to operate the detector to detect at least a portion of the light directed from the deformable transmissive layer, determine a surface orientation with respect to a position along the interface between the deformable transmissive layer and the interface-bonded object based at least in part on the interaction of the first illumination light with the deformable transmissive layer, and utilize the determined surface orientation to characterize a geometric profile of at least one side of the interface-bonded object that interfaces with the interface membrane. Referring to FIG. 7G, as further described below, an interface membrane (100) can be interposed between the interface-bonded object (1004) and the deformable transmissive layer (110), and such an interface membrane can have an elastic modulus similar to or different from that of the deformable transmissive layer.An efficient bond is preferably formed between the deformable transmissive layer and the membrane, so that shear and main or normal loads are efficiently transferred between these structures. Referring back to FIG. 7A, an embodiment is shown that includes an optical element (108) and may be configured to assist in the precise distribution of light or other radiation throughout various portions of the assembled system. The optical element may include a substantially rigid material that is highly transmissive, and the optical element may include a top surface, a bottom surface, and sides defined therebetween to form a three-dimensional shape, such as, for example, a cylindrical, rectangular, and / or rectangular prism shape. The illustrated optical element (108) may be illuminated by one of a number of interconnected light sources (116, 122) and positioned within the field of view of the imaging device (106). The housing (118) is configured to maintain the position of the components relative to each other and relative to the interface membrane (100) as previously described, which may comprise, for example, a fixedly attached or removably bonded substantially thin layer comprising a polymeric material with a relatively low bulk modulus and may be positioned for direct contact between another object and the digital touch sensing assembly (146) for touch determination and characterization. Preferably, the deformable transmissive layer and / or interface membrane comprises an elastomeric material such as silicone, urethane, polyurethane, thermoplastic polyurethane (TPU), or thermoplastic elastomer (TPE). Other elastomers with low light and / or radiation transmission efficiency may also be utilized, such as natural rubber, neoprene, ethylene propylene diene monomer (EPDM) rubber, butyl rubber, nitrile rubber, styrene-butadiene rubber (SBR), Viton, fluorosilicone, and polyacrylate. The deformable transmissive layer may comprise a composite having a pigment material, such as a metal oxide (such as iron oxide, zinc oxide, aluminum oxide, and / or titanium dioxide), metal nanoparticles (such as silver nanoparticles and / or aluminum nanoparticles), or other molecules configured to differentially interact with introduced light or radiation, e.g., a dye, distributed within an elastomeric matrix. The pigment material may be configured to provide a higher illumination reflectance than the illumination reflectance of the elastomeric matrix.The deformable transmissive layer is bounded by a bottom surface directly bonded to the interface membrane, a top surface most adjacent the detector, and a transmissive layer thickness therebetween, with a dye material distributed adjacent the bottom surface within the transmissive layer thickness to provide optimized illumination reflectance adjacent the bottom surface. Aspects of suitable digital touch sensing assembly (146) configurations generally featuring elastomeric deformable transmissive layer materials are described, for example, in U.S. Patent Nos. 10,965,854, 9,127,938, and 8,411,140, ​​each of which is incorporated herein by reference in its entirety. As shown in FIG. 3C , the illustrated digital touch sensing assembly (146) can feature a gap or void (114), which can include an optically transparent material (such as one having a refractive index similar to that of the optical element 108), air, or a specialty gas such as an inert gas, geometrically configured to position the side of the optical element (108) and / or the deformable transparent layer (110) within a desired proximity of the imaging device (106), and can comprise an imaging sensor such as a digital camera chip, a single light sensing element (such as a photodiode), or an array of light sensing elements, and can be configured to have a field of view and depth of field that is facilitated by the geometric gap or void (114). In another embodiment, the optical element (108) can be configured to be deformable or conformable such that the stiffness of such structure has minimal impact on other associated elements.

[0049] Also shown in Figure 7A is a computing device or system (104), which may comprise a computer, microcontroller, field programmable gate array, application specific integrated circuit, or the like, configured to be operatively coupled to the imaging device (106) and to one or more light sources (116, 122) to facilitate control of these devices in collecting data regarding touches on the deformable transmissive layer (110). For example, in one embodiment, as shown in Figure 7A, each of the light sources (116, 122) comprises a light emitting diode ("LED") operatively coupled (124, 126) to the computing device (104) using electronic leads, and the imaging device (106) comprises a digital camera sensor chip operatively coupled to the computing device using electronic leads (128). The power source (102) can be operatively coupled to the computing device (104) to provide power for computing device (104) and can also be configured to controllably provide power to interconnected devices such as the imaging device (106) and light sources (116, 122) via their couplings (128, 124, 126, respectively). As shown in FIG. 7A (640), these coupling interfaces (124, 126, 128) can be short or relatively long (i.e., the digital touch sensing assembly 146 can be remote relative to the computing device 104) and can be a direct physical connection or transmission of data via a wired or wireless interface, such as via an optical / optical networking protocol, or a wireless networking protocol such as Bluetooth® (RTM) or an 802.11-based configuration, which can be facilitated by additional computing and power resources local to the digital touch sensing assembly (146).

[0050] Referring to FIG. 7H, a partial schematic diagram shows that the computing system (104) may be operatively coupled (124, 126, 1012), such as via wired or wireless control leads, to two, three, or more different illumination sources (116, 122, 1010), which may be configured to have different emission wavelengths and / or different polarizations and may be configured to emit light from different directions relative to the optical element (108) and associated deformable transparent layer (110), as shown, to enable further data for geometric profiling.

[0051] Referring to FIG. 8, as described in the above-incorporated reference (U.S. Pat. No. 10,965,854), the deformable transmissive layer or member (110) can include various shapes and need not be planar or shaped in the form of a rectangular prism or variations thereof, for example, the deformable transmissive layer or member (110) can be curved, convex (144), saddle-shaped, etc., and can be customized for various specific touch sensing scenarios. For example, multiple assemblies (146) having convex shaped deformable transmissive layers (110) as shown in FIG. 8 can be coupled to the gripping interface of a robotic gripper / hand to facilitate touch sensing / determination regarding a gripped item in a manner similar to the paradigm of skin segments between the joints of a human hand gripping an object. The assembly (146) configuration of FIG. 8 features a housing geometry (142) and coupling mechanism (140) to facilitate removable attachment to other components.

[0052] With reference to Figure 9A, multiple digital touch sensing assemblies (146) can be utilized together to sense a larger surface (150) of an object (148). Each such assembly (146, five assemblies are shown in Figure 9A) can be operatively coupled (152, 154, 156, 158, 160) to one or more computing devices (104) as shown via electronic leads (e.g., which may be interrupted by wireless connections, as previously described), and thus can be configured to exchange data and facilitate the transmission of power, light, and control and sensing information.

[0053] With reference to Figure 9B, multiple (162) digital touch sensing assemblies (146) larger than those of Figure 9A may be utilized to partially or completely surround an object, or to monitor digital touches with two or more surfaces of such an object. Each of the thirty depicted digital touch sensing assemblies (146) shown in Figure 9B may be operatively coupled to the same or different computing devices (104), and the combined leads may be combined or joined to form a single combined lead assembly (164), as shown in Figure 9B.

[0054] With reference to FIG. 10A, an optional geometric separation (640) between various components such as the digital touch sensing assembly (146) and the computing device (104) is shown, but it is important to note that these components may also be housed and connected together with other systems, components, and devices via a wireless transceiver (166), such as those designed to operate with the IEEE 802.11 so-called "WiFi" standard, and / or wireless connection and communication standards known using the "Bluetooth" trademark, such as Bluetooth 4.x and Bluetooth 5. Additionally, the illustrated interconnected (136, such as via direct wire leads) power source (102) components may include one or more connections (wired or wireless, such as via inductive power transfer) to one or more batteries, or other power sources, to provide further power and / or charging of the integrated power source (102) components. Various embodiments described herein relate to miniaturized or miniaturizable configurations to aid in integration into other systems, such as automotive systems, and it is desirable to facilitate such system integration with connectivity alternatives that meet or can align with known standards. For example, in various embodiments, configurations such as the touch sensing system shown in FIG. 10A can be miniaturized and packaged in housings and connection configurations designed for relatively easy integration into or with other systems; such system configurations can be considered to be in the direction of “Internet of Things” integration capabilities, with various devices expected to provide relatively easy collaboration with other connections and integrated systems.

[0055] Referring again to FIG. 10A, there is shown a digital touch sensing assembly (146) similar to that described with reference to FIG. 7A, but also featuring a pump of additional sensing capabilities, or “secondary sensor” elements, generally in the same location as the touch sensing capabilities provided by the deformable transmissive layer and selected to enhance the general functionality of the assembly, such as by utilizing so-called “sensor fusion” techniques to provide sensing data from one or more additional sensing subsystems that may present their own levels of sensing uncertainty and error, such as to take advantage of uncorrelated errors between the various sensing subsystems, thereby improving the overall functionality of the integrated configuration. For example, if a digital touch sensor based on a deformable transmissive layer (110) may indicate contact with another object, but data from an integrated inertial measurement unit (or "IMU", e.g., accelerometer or gyro data from one or more accelerometers or gyros that may comprise such an IMU), a LIDAR subsystem (e.g., point cloud data related to the intended contact area), and an imaging device (e.g., a camera providing image data related to the intended contact area) provide additional impact data with uncorrelated measurement / determination errors to establish that the digital touch sensor is not in contact, then there is a reasonable chance that the digital touch sensor is not in contact (if all other measurement / determination subsystems have the same correlated errors, they will have some degree of correlation). (The concept of at least partially uncorrelated errors is important for other measurement / decision subsystems, as they may contribute redundancy or extended measurements, field of view, etc., but they may have similar error based limitations; for example, having three pitot tubes mounted on the wings of an aircraft may provide some redundancy and further measurements versus a single pitot tube, but if they are all flying in freezing rain and become invalidated by the same correlated errors, the aircraft would probably be better off relying on subsystems that have some uncorrelated errors, such as compass, GPS, trajectory planning, etc. Thus, the concept of utilizing multiple sensors with at least some uncorrelated errors provides value and can be called a form of "sensor fusion" via the availability of two or more sensors.)Also, as previously mentioned, multiple sensors can be aggregated to complement and extend the geometric range of the sensing paradigm, such as by combining similar or dissimilar sensors adjacent to one another along a given surface or side of a structural element. Thus, referring again to FIG. 10A , a selection of additional sensing subsystems (IMU 172, capacitive touch sensing 174, resistive touch sensing 176, LIDAR sensing 178, strain or stretch sensing 180, load sensing 182, temperature sensing 184, additional image sensing 186) having at least some uncorrelated errors are shown operably coupled (each of 188, 190, 192, 194, 196, 198, 200, 202 represents a connecting lead, such as a conductive wire lead, that may be joined to a communication / connection bus 170 that may be directly interconnected 168 with a computing device 104, as shown in FIG. 10A ) as part of the illustrated integrated system configuration.

[0056] For illustrative purposes, FIGS. 10B-10I show various embodiments in which further details of the integration of various subsystems may be considered.

[0057] 10B, an embodiment is shown in which the digital touch sensing assembly (146) is integrated with an interconnected IMU (172). The IMU (172) may comprise one or more accelerometers and one or more gyros and may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) via wire leads (188; shown coupled to a communication bus 170 operably coupled to the computing device (104) via wire leads 168, etc. The computing device (104) may be configured to operate the IMU (172) to capture data relating to, for example, angular and axial accelerations that may be associated with contact with an external object and / or changes in position or orientation of the housing (118), as well as operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer physically interfaces with one or more objects, such as at a contact interface (120). In one embodiment, for example, the integrated system may be configured to utilize the IMU data and knowledge of the expected motion and acceleration of the housing (118) to increase the frame rate of touch sensing via the deformable transmissive layer (110) when an unexpected change in axial or angular acceleration is detected. In other words, when the digital touch sensing assembly (146) is coupled to an electromechanical movement system, such as a robotic arm or robotic manipulator (e.g., as in FIG. 11 ; 234), and the computing system (104) is integrated to receive information regarding the timing, direction / orientation, and kinematics of the movement commands of the electromechanical movement system, it may be configured to separate expected and unexpected accelerations and treat the unexpected accelerations as potential contact with an external object, which may be further explored by frame rate enhancement, computing, and general digital touch sensing via the deformable transmissive layer (110).

[0058] 10C , somewhat similar to how some smartphones or other touch screen interfaces are configured to detect touch based on detected capacitance, an embodiment is shown in which a digital touch sensing assembly (146) is integrated with an inter-coupled capacitive sensing subsystem featuring a capacitive sensing controller (174) operably coupled to capacitive sensing elements (206), such as via wire leads (204), that may be integrated into a deformable, transmissive layer and configured to facilitate enhanced touch sensing based on detected capacitance between the sensing elements (206), which may include a grid or a plurality of cells, and another object. The capacitive sensing controller (174) may comprise one or more amplifiers and may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) via wire leads (190; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168, etc. The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at the contact interface (120), as well as to operate the capacitive sensing controller (174) to capture data regarding detected changes in capacitance near the sensing elements (206) that may be associated with contact with an external object, for example. In one embodiment, for example, the integrated system may be configured to increase a frame rate for touch sensing via the deformable transmissive layer (110) when a change in capacitance is detected utilizing detected capacitance data regarding the sensing elements (206). In other words, the system may be configured to utilize uncorrelated errors of both capacitive and deformable transmissive layer (110) based touch sensing to provide an optimized touch sensing output upon determining that there is at least some indication of contact at or near the sensing elements (206).In other variations, since the resolution and / or temporal response requirements may not be the same at each location in a given implementation, a combination of different sensors, such as those with uncorrelated errors, with different aspects of spatial separation relative to each other may be utilized.

[0059] 10D , somewhat similar to how some smartphones or other touch screen interfaces are configured to detect touch based on detected resistance, an embodiment is shown in which a digital touch sensing assembly (146) is integrated with an interconnected resistive sensing subsystem featuring a resistive sensing controller (176) operably coupled, such as via wire leads (210), to resistive sensing elements (208) that may be integrated into a deformable transmissive layer (110) and configured to facilitate enhanced touch sensing based on resistance detected between the sensing elements (208), which may include a grid or a plurality of cells, and other objects. The resistive sensing controller (176) may comprise one or more amplifiers and may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) or operably coupled to the computing device (104) via wire leads (192; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168, etc. The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at the contact interface (120), as well as to operate the resistive sensing controller (176) to capture data regarding detected changes in capacitance near the sensing elements (208) that may be associated with contact with an external object, for example. In one embodiment, for example, the integrated system may be configured to increase a frame rate for touch sensing via the deformable transmissive layer (110) when a change in capacitance is detected utilizing detected capacitance data regarding the sensing elements (208). In other words, the system may be configured to utilize uncorrelated errors of both resistive and deformable transmissive layer (110) based touch sensing to provide an optimized touch sensing output upon determining that there is at least some indication of contact at or near the sensing elements (208).

[0060] 10E, an embodiment is shown in which the digital touch sensing assembly (146) is integrated with a mutually coupled LIDAR sensor (178), such as that available from Hokuyo Auto USA Corp. The LIDAR sensor (178) may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) via wire leads (194; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168 or the like. The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at a contact interface (120), as well as to operate the LIDAR sensor (178) to capture data related to objects within a field of view (212) of the LIDAR sensor (178), such as, for example, a point cloud related to nearby surfaces and objects. In one embodiment, for example, the integrated system may be configured to utilize the LIDAR (178) data to increase the frame rate of both the LIDAR (178) and touch sensing via the deformable transmissive layer (110) when an unexpected change is detected within the LIDAR (178) field of view (212; which is preferably oriented to be at least somewhat aligned with the position and orientation of the associated deformable transmissive layer 110). In other words, when the deformable transparent layer (110) begins to approach another object, as detected by a change in the point cloud detected by the LIDAR (178) system, the deformable transparent layer (110) and associated computational and imaging capabilities can be moved into an expanded mode of functionality for detecting and characterizing any touch / contact.

[0061] 10F, an embodiment is shown in which the digital touch sensing assembly (146) is integrated with an interconnected strain or extension sensor (180). The strain sensor (180) can comprise one or more extension sensing elements (216), such as strain gauges whose electrical resistance can be correlated to extension. Such extension sensing elements (216) may be integrated into or embedded in the deformable transmissive layer (110), and the strain controller (180) may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) via wire leads (196; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168, etc.). The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at the contact interface (120), as well as to operate the strain controller (180) to capture data regarding strain or elongation that may be associated with contact with an external object, for example. The one or more elongation sensing elements may comprise a grid or network and may be operably coupled to the strain controller (180) via one or more wire leads (214), etc. In one embodiment, for example, the integrated system may be configured to optimize the determination of the magnitude of touch sensing via the deformable transmissive layer (110) when changes in elongation are detected utilizing strain sensor data. For example, if the deformable transmissive layer (110) moves over a bump on a surface, the magnitude of the bump determined using the deformable transmissive layer (110) can be compared to the change in contact surface deflection detected with the strain sensors (180, 216), thereby providing two sources of data for such a determination with at least some uncorrelated measurement / determination error.

[0062] 10G, an embodiment is shown in which the digital touch sensing assembly (146) is integrated with an interconnected load sensor (182). The load sensor (182) may comprise one or more load sensing elements or cells (220), which may comprise one or more devices configured to generate an electrical output that varies with an applied load, such as, for example, one or more piezoelectric load cells. Such load sensing elements (220) may be integrated or embedded in the deformable transmissive layer (110), and the load sensor controller (182) may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) via wire leads (198; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168, etc.). The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at the contact interface (120), as well as to operate the load-sensing controller (182) to capture data regarding a load that may be associated with contact with an external object, for example. The one or more load-sensing elements may comprise a grid or network and may be operably coupled to the load-sensing controller (182), such as via one or more wire leads (218). In one embodiment, for example, the integrated system may be configured to optimize the determination of a magnitude of touch sensing via the deformable transmissive layer (110) when a change in load is detected utilizing the load sensor data. For example, if a portion of the deformable transmissive layer (110) is pressed against the surface of another object, the magnitude of contact determined using the deformable transmissive layer (110) can be compared to the change in contact surface load detected by the load sensors (182, 220), thereby providing two sources of data for such a determination with at least some uncorrelated measurement / determination error.

[0063] 10H, an embodiment is shown in which the digital touch sensing assembly (146) is integrated with an interconnected temperature sensor (184). The temperature sensing subsystem can include a temperature sensor controller (184), which can include, for example, an amplifier and / or a microcontroller, and one or more temperature sensing elements or cells (224), which can include, for example, one or more devices configured to generate an electrical output that varies with temperature, such as, for example, one or more thermocouple elements. Such temperature sensing elements (224) can be integrated into or embedded in the deformable transmissive layer (110), and the temperature sensor controller (184) can be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) via wire leads (200; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168, etc.). The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at the contact interface (120), as well as to operate the temperature sensing controller (184) to capture data regarding one or more temperatures that may be associated with contact with an external object, for example. The temperature sensing elements (224) may comprise a grid or network and may be operably coupled to the temperature sensing controller (184) via one or more wire leads (222), etc. In one embodiment, for example, the integrated system may be configured to optimize touch sensing characteristics via the deformable transmissive layer (110) when a temperature change is detected.For example, when a portion of the deformable transparent layer (110) is pressed against the surface of another object having a temperature different from the ambient temperature (e.g., when touching most biological tissue in a surgical environment), the magnitude of contact determined using the deformable transparent layer (110) can be compared to the change in contact surface temperature detected by the temperature sensors (184, 224), thereby providing two sources of data related to contact profile determination with at least some uncorrelated measurement / determination error.

[0064] 10I, an embodiment is shown in which, in addition to an imaging device (106) operably integrated with the deformable transmissive layer (110), the digital touch sensing assembly (146) is integrated with an interconnected imaging sensor (186). The imaging sensor (186) may comprise a camera and may be configured to operate at various selected wavelengths, such as visible light, infrared light, etc. The imaging sensor (186) may be fixedly coupled to the housing (118) of the digital touch sensing assembly (146) and operably coupled to the computing device (104) or the like via wire leads (202; shown coupled to a communication bus 170 that is operably coupled to the computing device 104 via wire leads 168 or the like). The computing device (104) may be configured to operate the imaging device (106) and illumination sources (116, 122) to facilitate touch sensing by utilizing the deformable transmissive layer (110) when the deformable transmissive layer (110) physically interfaces with one or more objects, such as at the contact interface (120), as well as to operate the imaging sensor (186) to capture data regarding objects within a field of view (226) of the imaging sensor (186), such as images of nearby surfaces and objects. In one embodiment, for example, the integrated system may be configured to utilize data from the imaging sensor (186) to increase the frame rate of both the imaging sensor (186) and touch sensing via the deformable transmissive layer (110) when an unexpected change is detected within the field of view (226) of the imaging sensor (186), which is preferably oriented to be at least partially aligned with the position and orientation of the associated deformable transmissive layer 110. In other words, when the deformable transparent layer (110) begins to approach another object, as detected by a change in image data detected by the imaging sensor (186) system, the deformable transparent layer (110) and associated computational and imaging capabilities can be moved into an expanded mode of functionality for detecting and characterizing any touch / contact.In alternative embodiments, imaging sensor (186) may be configured to operate at infrared wavelengths, for example to aid in detecting thermal profiles, and further imaging sensor (186) may comprise a so-called "depth camera" or "time-of-flight" imaging sensor, such as those available from PrimeSense, Inc., a division of Apple, Inc., which may be configured to acquire not only image data, but also data related to the depth or z-axis position of such image data relative to imaging sensor (186).

[0065] 10B-10I, and again to FIG. 10A, various combinations and permutations of these illustrated sensing configurations may be integrated together in various embodiments. For example, in one embodiment, it may be desirable to have IMU sensor functionality along with LIDAR to complement digital touch sensing via the deformable transmissive layer (110). Various examples and embodiments are described below.

[0066] 11, a configuration is shown that employs a digital touch sensing assembly (146) coupled to a distal portion (236) of a robotic arm or robotic manipulator (234) that is mounted to a movable base (238). The robotic manipulator may comprise an elongated arm configuration with various movable joints between rigid or semi-rigid linkages, as shown (234), or may comprise a flexible robotic manipulator, such as what may be referred to as a robotic catheter or tubular flexible robot (which may be available, for example, from IntuitiveSurgical, Inc. or Johnson & Johnson, Inc.). The digital touch sensing assembly (146) is shown operatively coupled (136), such as via a wired or wireless connection, to a computing device (144) that is coupled (232, 230, 166) to a power source (102). The robotic arm (234) can be operated by the computing system (144) to advance toward and inspect an object (228) having a target surface (70), which may include elements such as rivets (72) that may be susceptible to or required for failure, or that may require periodic inspection.

[0067] With reference to Figure 12, by utilizing various aspects of the configurations described above, a digital touch sensing assembly (146) may be utilized to inspect the surface (70) and its features (72) through controlled interfacial bonding with the interface surface (120). In other words, as described above and further illustrated in Figure 12, in addition to digital touch sensing through the deformable transmissive layer (240), various other sensing configurations and associated data may be utilized in conjunction, including, but not limited to, IMU data (242), capacitive sensor data (244), resistive sensor data (246), LIDAR / point cloud data (248), strain or stretch sensor data (250), load sensor data (252), temperature sensor data (254), and data from additional imaging devices (256).

[0068] Referring to FIG. 13A, a system configuration similar to that of FIG. 11 is shown with the addition of additional sensing capabilities coupled to a room or operating environment (260) connected (258, 230, 166, e.g., via a wired or wireless connection to a computing system 144), as well as additional sensing functions coupled to a digital touch sensing assembly (146). As shown in FIG. 13A , one mounting member (359) is configured to couple an additional imaging device (270) to the digital touch sensing assembly (146) in a position and orientation that allows it to capture a field of view associated with the area in front of the interface surface (120) of the digital touch sensing assembly (146), the other mounting member (358) is configured to couple a further additional imaging device (272) to the digital touch sensing assembly (146) in a position and orientation that allows it to capture a different oblique field of view associated with the area in front of the interface surface (120) of the digital touch sensing assembly (146), and further, a LIDAR device (274) is coupled to the second mounting member (358) in a position and orientation that facilitates capturing point cloud and other data regarding the operating environment surrounding the digital touch sensing assembly (146). As mentioned above, in this embodiment, the connected room (260) also features enhanced sensing capabilities, having multiple imaging devices (264, 266) and an additional LIDAR sensor (268) coupled to the room (260) at a position and orientation selected to assist in accuracy analysis of the robot's (234) movement relative to the object (228) to be inspected when the object is positioned on the table (262) in the room (260).

[0069] With reference to FIG. 13B, further enhancements may be included and interconnected (318) on the computing device side of the system to allow a user operating the computing system (144) to remotely understand aspects of the surface (70) of the object (228) being inspected by the digital touch sensing assembly (146). As shown in FIG. 13B, a display (278) may be utilized to assist an associated user in viewing the output from the digital touch sensing assembly (146), as well as images or point clouds from the other interconnected sensing subsystems (270, 272, 274, 268, 264, 266). Additionally, a haptic interface (280) as shown in FIGS. 13C-13F may be utilized to assist the user in experiencing a representation of the detected surface features. An interconnected 3D printer (276) may also be utilized to complement this "touch sensing workstation," whereby the user may decide to directly experience several layers of the detected geometry by locally printing the geometry (e.g., via the user's hand) for direct manipulation.

[0070] Referring to Fig. 13C, a haptic interface variation (282) may be configured to provide a user with the sensation of experiencing a real or virtual surface via a manipulation interface, such as a spherical member (290) coupled to a computing system (not shown) and configured to be held by the user's hand. Fig. 13D illustrates a haptic interface variation (284) configured to provide a hand (12) grip manipulation interface (292) for a user (4) to experience aspects of a real or virtual surface via an interconnected computing system (not shown). Figs. 13E and 13F illustrate further haptic interface variations (286, 288) that may enable a hand (12) of a user (4) to experience aspects of a real or virtual surface via a pen-like (294) manipulation interface or a finger-socket (296) manipulation interface. Thus, utilizing the "touch workstation" configuration of Figure 13B with one of the illustrated haptic interfaces, a user can, from nearby or remote locations, observe (via display 278), directly feel / manipulate (via 3D printer 276), and haptically experience (via haptic interface 280) aspects of the surface (70) of the inspected object (228). Thus, with reference to Figures 14 and 15, aspects of variations of such a configuration are illustrated.

[0071] With reference to FIG. 14 , a user desires to engage a surface utilizing a sensing system, and the system is calibrated and positioned near a target surface (302). The user navigates the sensing surface toward the target surface, such as via an electromechanical arm or robotic manipulator, with feedback to the user regarding the position and orientation of the sensing surface provided by a positioning platform (inverse kinematics, load cells, deflection sensors, joint positions, etc.) (304). As the sensing surface is navigated closer to the target surface, the integrated sensing capabilities facilitate detection of the target surface and its features (e.g., the system may be configured such that the integrated camera and LIDAR detect the target surface first, followed by other integrated sensing capabilities that may be configured for sensing associated with closer engagement) (306). The system may be configured to specifically respond to a contact event between the sensing surface and the target surface (e.g., repositioning and reorienting of the sensing surface may be slowed, and audio, visual, and / or tactile cues may be utilized to communicate contact) (308). The user may use the integrated sensing capabilities (e.g., IMU, capacitive touch sensing, resistive touch sensing, LIDAR, strain or deflection gauges, load sensing, temperature sensing, and / or acceleration detected by cameras and other imaging devices, etc.) to reposition and reorient the sensing surface relative to the target surface to inspect the target surface (310). The system may be configured to present aspects of the target surface to the user (312) to enhance the user's understanding of the target surface, such as through a combination of vision, touch, audio, and haptics (such as through a locally printed surface or portion thereof).

[0072] Referring to FIG. 15 , a user at a distance from a target surface desires to utilize a sensing system to engage the target surface, and the system is calibrated and positioned near the target surface (314). The user navigates the sensing surface toward the target surface, such as via an electromechanical arm or robotic manipulator, with feedback to the user regarding the position and orientation of the sensing surface provided by a positioning platform (inverse kinematics, load cells, deflection sensors, joint positions, etc.). As the sensing surface is navigated closer to the target surface, the integrated sensing capabilities facilitate detection of the target surface and its features (e.g., the system may be configured such that the integrated camera and LIDAR detect the target surface first, followed by other integrated sensing capabilities that may be configured for sensing associated with closer engagement) (306). The system may be configured to specifically respond to contact events between the sensing surface and the target surface (e.g., repositioning and reorienting of the sensing surface may be slowed, and audio, visual, and / or tactile cues may be utilized to communicate contact) (308). The user may use integrated sensing capabilities (e.g., IMU, capacitive touch sensing, resistive touch sensing, LIDAR, strain or deflection gauges, load sensing, temperature sensing, and / or acceleration detected by cameras and other imaging devices, etc.) to reposition and reorient the sensing surface relative to the target surface to inspect the target surface (310). The system may be configured to present aspects of the target surface to the remote user (316) to enhance the user's understanding of the target surface, such as through a combination of vision, touch, audio, and haptics (such as through a locally printed surface or portion thereof).

[0073] 16A-17, various aspects of another exemplary configuration utilizing the integrated touch sensing system described herein are illustrated. Referring to FIG. 16A , an interconnected room, kiosk, or measurement housing (324; connected via wired or wireless connections 320, 230, 166 to a computing system 144 that, as previously described, is integrated and interconnected with other aspects of the touch workstation, such as a power source 102, a 3D printer 276, a display 278, and / or a haptic interface 280) is shown featuring several imaging, sensing, and detection interconnected resources, such as a LIDAR device (286), one or more imaging devices (264, 266), and a digital touch sensing assembly (146) interconnected to further imaging devices (270, 272) and a LIDAR detector (274), each of which can be configured to help characterize the geometry and surface of an object, such as a foot (322) of a person (4) that can be lowered (326) into a position where the foot engages the digital touch sensing assembly (146), as shown in FIG. 16B . In other words, the measurement housing or kiosk (324) may be configured to facilitate convenient engagement of a portion of a user's appendage, such as a portion of the user's leg or arm, to gather accurate information regarding a purpose, such as the plantar surface of the user's foot, which may be utilized to design orthotics, ski boots, and the like. The combined data available at the interconnected workstations may be utilized to not only inspect a target object (such as a user's foot), but also to accurately characterize its geometry. For example, the digital touch sensing assembly (146) may be utilized to accurately characterize the primary load surface (i.e., the bottom surface of the user's 4 foot 322), and the image and point cloud data may be utilized to further understand the geometry of the object (user's 4 foot and lower leg), such that these findings may be utilized to assist in orthopedic studies, pre- or post-operative studies, custom shoe design, and the like. An example of such a configuration is shown in FIG. 17.

[0074] Referring to FIG. 17, in one embodiment, a particular user (330) desires an improved understanding of foot geometry and loading patterns. The user may expose their foot and the system may be initialized in preparation for characterization (332). The user may position / orient the foot within the measurement structure to facilitate scanning of the external shape of the exposed foot (334). The user may reposition / reorient the foot within the measurement structure to facilitate further scanning of the external shape of the exposed foot (336). The user may place the foot on the deformable transparent layer and load the foot (338) while the system collects data regarding the loading pattern, anatomical structure, and geometry. The system may be configured to create an anatomical / geometric profile of the user's foot (340) along with a loading profile associated with the anatomical / geometric profile. The anatomical / geometric profile and loading profile may be utilized to create an interfaced structure (such as a shoe, ski boot, orthotic device, etc.) and / or diagnose an associated medical condition (342).

[0075] Referring again to Figures 13A and 13B, some surfaces and objects may be presented in a somewhat more easily accessible configuration. Many other fine manipulation and / or contact scenarios involve greater geometric or spatial complexity. For example, referring to Figure 18A, a very simple scenario is shown for a human (346) in which the human's (346) hand (348) can be utilized to controllably approach and then touch, inspect, and / or grasp a target object, such as a cookie (354) that happens to be present in a container (344) that may be fragile, such that relatively high loads or impact contacts are avoided in order to maintain the integrity of the container (344) and / or the object (here, the cookie 354, which may also be fragile). Support structures or substrates (such as table 352) on the container (344) may also be fragile or susceptible to damage under high loads or impacts. The upper limbs of humans are very successful in facilitating successful handling of this exemplary situation, partly due to the smooth motor neuron, muscle, and kinematic activity of the upper limbs, as well as the sensory neuron innervation of tissues such as the skin. For example, the illustrated human (346) typically has sensory neurons throughout the skin, such as in the wrist (350) and hand (348) regions, so the associated human (346) can carefully navigate the geometry of the container and target object (354), as well as the mechanical failure mechanisms associated with both. In other words, the human can utilize touch sensing through the skin and other tissues to navigate the scenario without destroying the associated structures. Approaching the same scenario with a mechanical system such as a backhoe tractor (an expanded version of the scenario) or a remote-controlled robot poses many challenges. This is because a human at a remote control location (e.g., across a room from the robot or across the country from a robot connected by computer connectivity) typically does not have the human-level senses or touch or sensations associated with the interaction and may not perceive, via visual or audio confirmation, or the like, that one or more relevant structures are about to be damaged until it is too late.

[0076] 18A and 18B, the subject touch-sensing technology can be utilized to address such scenarios and provide a greater sense of the physical engagement in question to users in nearby or remote locations.

[0077] As shown in FIG. 18B , an electromechanically controllable robotic arm (234) is shown in a room (260) having an interconnected touch sensing assembly (146) such as those described above positioned to inspect an object (such as cookies 354) in a container (such as a jar 344) resting on a substrate or support structure (such as a table 352). The room (260) can be configured with multiple sensors, such as a LIDAR (268), and one or more image capture devices (264, 266) coupled thereto and positioned to capture information about the volume around the robot and / or target object (354), preferably in a manner that provides high quality data from multiple sources with uncorrelated errors, as described above. To enhance data fusion capabilities, one or more additional sensing devices, such as an additional image capture device (270) and a LIDAR (274), can be coupled to the robotic arm (234) to provide further information about the volume around the interconnected touch sensing assembly (146) and further high quality data from multiple sources with uncorrelated errors. Each of the sensors (146, 264, 266, 268, 270, 274) can be coupled (232, 258, 230), such as via a wired or wireless connection, to one or more computing devices (104) that can be configured to facilitate control of the interaction. With such a configuration, the distal target-facing touch sensing assembly (146) can be configured to assist a user, who may be in a nearby or remote location, by obtaining a perception of a physical interaction at the deformable transmissive layer (110) of the touch sensing assembly (146), as previously described. Additionally, as described with reference to FIG. 13B above, the user may be provided with a workstation that can provide one or more means for perceiving a physical engagement, such as a haptic interface (280), a display (278), and / or a 3D printer (276), i.e., to facilitate printing one or more layers of an object.To further enhance a user's perception of a physical engagement scenario in a remotely controllable manipulation or inspection configuration (such as a robot 234 as shown), an additional touch sensing assembly (360) may be coupled to the remotely controllable engagement system (234), such as in a configuration for partially or fully peripheral monitoring around a distal portion of such a system, as shown. In other words, the additional touch sensing assembly (360) may comprise components similar to the touch sensing assembly (146) described above and be coupled around a portion of the periphery of the associated structure to provide one or more outwardly deformable transmissive layers (110) to be operably coupled (232, 230) to the computing device (104) via a wired or wireless connection, or the like, to provide additional touch sensing to a user of a remote workstation. As shown in FIG. 18B, the additional touch sensing assembly (360) is preferably located on the remotely controllable engagement system (234) in a location that will aid the remote user in understanding key aspects of the remote engagement, such as a distal or "wrist" location where contact with a target object or associated object is likely to occur. For example, positioning additional touch sensing assemblies (360) circumferentially around at least a portion of the distal touch sensing assembly (146) can be useful in assisting the remote user in navigating down through the mouth of the container (344) to the target object (354), since line of sight or more direct contact with either sensing assembly (360, 146) may occur during such an approach.

[0078] Referring to FIG. 18C, a configuration similar to that of FIG. 18B is shown with the addition of another touch sensing assembly (362) circumferentially coupled around at least a portion of what may be referred to as a "forearm" member of the illustrated robot (234), again operably coupled (232, 230) to the computing system (104) via a wired or wireless connection or the like. Indeed, both touch sensing assemblies (360, 362) may be configured to sense perimetrically around the elongated assembly (234), such as via diametrically opposed pairs of touch sensing assemblies (146), groups of three or more touch sensing assemblies that may be separated from one another in an evenly circumferentially spaced configuration (i.e., maximizing coverage relative to the nearby environment), or the like. Such additional sensing capabilities at the illustrated locations may further assist the remote user in successfully navigating the illustrated physical engagement challenge to touch, inspect, and / or grasp a target object (here, dollar bill 355).

[0079] As described above with reference to Figures 9A and 9B, various sensor configurations can be created by assembling and operably coupling multiple touch sensing assemblies (146), and such interconnections can be used to create peripheral or partially peripheral type touch sensing assemblies (360, 362) as shown in Figures 18B and 18C. Also, as described above with reference to Figures 7A-7E, components such as optical fibers and / or waveguides can be used to move sensors to various locations relative to captured radiation or captured radiation (i.e., rather than directly locating a light sensor or image capture device at the capture location, a light guide, a transmission fiber, or a combination or plurality thereof can be used to capture light at a capture location to facilitate transmission to a light sensor or image capture device located further away from such capture location). With reference to Figures 18D-18K, various configurations are shown that provide alternatives for radiation transmission associated with touch sensing assemblies (146, 360, 362) as described above. Referring to Figure 18D, for example, a configuration similar to that shown in Figure 7A is shown, which includes an optical element (108) operably coupled to a light emitting (or other wavelength emitting; for example, may alternatively be infrared wavelength) device (116) in a configuration selected to provide photon propagation (364) from emission at the device (116) to various positions along the optical element (108), where the photons can intersect the deformable transmissive layer (110) at an exit angle (366) defined by the reflective / refractive properties of the material and the geometry of the structure, for example, between about 20 degrees and about 40 degrees. Figure 18E shows a similar configuration with emission from two sides (116, 122) similar to the assembly of Figure 7A.Referring again to FIG. 7A, in combination with an image capture device having dimensions in the range of a three-dimensional cube with edge dimensions of about 1.5 mm, a distance to the imaged object of about 3 mm, and a working distance of about 5 mm, and an optical element (108) including a material such as a polymer or glass selected to facilitate illumination therethrough, such as polymethylmethacrylate ("PMMA"), which is relatively inexpensive, easy to form, and relatively easy to polish to facilitate optical properties such as predictable reflectivity, in a layer of about 4 mm thickness (368) and a deformable transmissive layer (110) of about 1-2 mm, the assembly may range in thickness from 1-15 mm, such dimensions depending at least in part on the illumination requirements and the selection of in situ loading demands. Such assembly dimensions are feasible in a variety of configurations, but may be minimized in alternative configurations.

[0080] Referring to FIG. 18F, certain so-called "front-lit" or "front-illuminated" films (372), such as those utilized in computing device displays (e.g., in mobile devices that may be utilized outdoors or other brightly lit environments where traditional backlighting configurations may not be as effective, e.g., devices such as those available under the trade name Kindle (RTM) may utilize reflective display configurations that are selected to use ambient light such that there is an illumination layer between the pixels of the display and the viewer), may include a reflective film (372) along the length of the optical element (108) having a desired exit angle (366). At the desired location or distribution, as shown in FIG. 18F, the deformable transmissive layer (110; i.e., light can bounce 902 through the illumination film 372, exit the film 904, and enter the deformable transmissive layer 110, via total internal reflection or the like, and the deformable transmissive layer can act as a carrier and spacer for the various optical layers to allow sufficient spacing perpendicular to the plane of the deformable transmissive layer, i.e., "z-axis spacing," for light mixing) can include light extraction features to controllably extract light or other radiation in a preferred direction, such as toward or back from the deformable transmissive layer (110), and can have a thickness (370) in the range of 100 microns. A cladding layer (not shown), such as one including a silicone material, can be bonded to the outer surface of the film (372), and the carrier layers can also be interconnected to provide additional structure and local planarity. In such a configuration, the assembly thickness can be cut, for example, by about half to about 5-6 mm, depending on the material and light extraction features of the film (372). In a configuration such as that shown in Figure 18F, there may be portions (900) of the deformable transmissive layer (110) that are difficult to access, given the location and exit paths / angles (904, 906) of the illumination layer (372). Figure 18G shows another embodiment in which the film 372 is positioned between the optical element 108 and the deformable transmissive layer 110, and thus closer to the deformable transmissive layer (110), such as in various so-called "front-lit" configurations.Similar to the configuration of FIG. 18F, features within the illumination layer can assist in controlled bouncing / reflection 902, such as via total internal reflection and emission or extraction 904, to direct illumination to other layers, such as the deformable transmissive layer (110) as shown. The thickness (370) of the illumination film (372) can be determined by factors related to the illumination requirements, such as whether highly tightly controlled illumination is required (e.g., more light may require a thicker illumination film; tighter angular control may require a thinner illumination film). Importantly, such layers can be substantially planar, but also non-planar or curved with various levels of complexity (convex, concave, cylindrical, etc.), and can be illuminated from various locations and elongated in shape, as shown in FIGS. 18H and 18I, which can facilitate peripheral shapes, such as those shown in the cuff-like peripheral sensor of FIGS. 18B and 18C (360, 362). Additionally, such a film (372) may be bonded to multiple sides for controlled reflectivity, not just one, as shown in FIG. 18J, which shows a configuration having a controlled reflectivity front lighting film interconnected on four sides (372, 374, 376, 378) as shown around the illustrated optical element (108), or in other embodiments, on six sides in a configuration similar to that of FIG. 18I, with two additional lighting films interconnected so as to be flush with the drawing sheet on either side of the optical element (108) as shown.

[0081] 18K and 18L, as previously discussed, waveguides and transmission or interconnect members may be utilized to efficiently move light between various elements. FIG. 18K illustrates, for example, a wedge-shaped waveguide having a maximum thickness (380) that may be in the range of 1-5 mm and may have an included angle (384) in the range of 1-15 degrees to aid in the propagation (388) of light from the light emitting device (116), across the waveguide (392) into the optical element (108) and into the deformable transmissive layer (110), and an air gap (908) may be configured to aid in the transmission from the waveguide (392) to the optical element (108). Figure 18L shows a similar wedge-shaped waveguide with a maximum thickness (382) that can be in the range of 1-2 mm and have an included angle (386) in the range of 2-8 degrees to help light from the light emitting device (116) propagate (390) straight across the waveguide (394) (again, an air gap 909 is shown to aid transmission and prevent total internal reflection) and into the deformable transmissive layer (110). In the configuration of Figure 18K, a membrane (not shown) can be placed on the right-most shown surface of the deformable transmissive layer (110), and additional capture devices or cameras, as well as additional illumination sources, can be added to the other side (shown left) of the waveguide (394), as long as such other side does not have a mirror reflective coating. Mirror coatings and so-called "turning film" elements may be included to further aid in efficiently guiding and transmitting light or other radiation between elements (e.g., the light exiting the illustrated waveguide 392 may be on an exit vector approximately parallel to the vertical plane of the waveguide 392, and it may be desirable to "turn" the exiting light to produce a desired illumination angle, such as by coupling a turning film to the waveguide 392). The components, materials, geometries, and refractive / reflective properties can be tailored to a variety of specific geometric challenges, such as the various use cases described and illustrated herein.

[0082] As previously mentioned, enhancing the perception of activities at remote locations via a user's local workstation, whether the user is across the room, in another building, or across the world, is a significant challenge for many computerized systems, such as telecommunications, remote presence, remote inspection, or remote action systems. Referring to Fig. 19A, one enhancement of perception at a local workstation for a user (4) may be through a haptic master input device (280) that may be operatively coupled (396, 230) to an interconnected computer system (104) via a wired or wireless connection, etc., to enable the user (4) to perceive affective aspects such as simulated translational motion of touch, friction, texture, etc., locally at the workstation via the user's hand (12) and / or wrist (13). Referring to FIG. 19B, in another embodiment, it may be beneficial to facilitate further localized perception of remote physical interactions, such as by what may be referred to as a "touch translation interface" (398), such as one that may be removably coupled to the user's wrist (13) and operatively coupled to a computing system (400, 230) via wired or wireless communication, and configured to provide the user (4) with one or more sensations at the wrist (13) or other locations that may be relevant and / or intuitively associated with activities at the remote location, such as contact between objects at the remote location. Such sensations may be in addition to sensations provided to the user (4) via, for example, a haptic master input device or controller (280). In other words, in various embodiments, multimodal sensations may be provided to the user (4) to assist the user in perceiving activities at the remote location with increased fidelity.

[0083] 20A-20C, various aspects of a road vehicle, such as a computerized electric vehicle, provide opportunities for touch integration and enhancement. For example, typically a human operator will have a fairly consistent touch interfacing with portions of the vehicle's structure, such as the pedals (404, 406), the floor (414), the driver's seat (412), the steering wheel (408), the sides of the dash control and / or display interface (410), and what may be known as portions of the "A-pillar" (402). Each of these structures, as well as other structures, provide opportunities for integrated touch sensing to assist, for example, with operation, control, and safety. 20B and 20C, a touch sensing assembly featuring a deformable transmissive layer may be operatively coupled to various sides of the front (438, 440, 442) and rear (444, 446, 448) vehicle bumpers or frame structures to help detect deformations associated with an impact, and may be utilized to trigger safety systems such as seat belt fasteners or passenger airbags in addition to, or as an alternative to, other more conventional sensors configured to provide such functionality, such as embedded accelerometers, which may introduce longer latency into the control for such safety systems than a touch sensing assembly featuring a deformable transmissive layer. In other words, the placement of a touch sensing assembly featuring a deformable transmissive layer may be selected to provide intrusion detection very early in the intrusion, perhaps before a particular acceleration detection system detects an actionable change in acceleration in a particular frame component, or the like.20B illustrates various locations and positions within a vehicle that may be operatively coupled to touch sensing assemblies featuring a deformable transmissive layer such that a central controller or computing system may detect a user's touch and / or contact via touch sensors operatively coupled to each of the pedals (416, 418), driver floor (420), driver seat base (422), driver seat back (424), driver headrest (426), shifter interface (430), central control console interface (428), steering wheel (432), dashboard portion (434), and A-pillar (402) structure portion (436). The touch sensing assemblies featuring a deformable transmissive layer for each of these exemplary structures may have different geometries and may include various materials to provide structural characteristics tailored for each usage scenario. For example, the structural modulus of a seat base (422) touch sensor may generally be relatively low and information desired be of relatively low resolution (e.g., a general weighting profile of an operator without particularly high resolution to assist in determining that a child or dog under a certain weight is not attempting to operate the vehicle), compared to a center console (428) interface, and the structural modulus may be selected to be relatively high, thereby allowing an operator to repeatedly control various aspects of the vehicle through touches to the interface without significant physical intrusion at typical touch loads, while providing sufficient intrusion at such typical touch loads to obtain desired information, such as general fingerprint geometric correlation that can be analyzed at vehicle start-up for a layer of biometric security related to an authorized user / operator.

[0084] One of the challenges associated with integrating multiple touch sensing assemblies featuring deformable transmissive layers into a system, such as an automobile or robot, is interconnectivity. Referring to Figure 21A, for example, as previously described, various aspects of the control, signal, power, and / or actuation connections (232, 230) between a system, such as a robot (234) featuring touch sensing assemblies (146), and a computing system (144) may be via hardwired leads or wireless connections, such as via Bluetooth (RTM), IEEE 802.11, or various other standards. Indeed, with reference to Figure 21B, and as shown in the close-up views of Figures 21C and 21D, it may be desirable to have at least some components or aspects of a system, such as a robot (234), featuring a touch sensing assembly (146) in a relatively endless form, such that while a wireless transceiver (166) may be utilized for many if not all of the communications with other interconnected systems, power and a certain level of controller and / or computing capability may be provided by an on-board computing device (144) and power system (102), such as an embedded chipset, microcontroller, field programmable gate array, application specific integrated circuit, and battery, which may be rechargeable via wireless inductance, etc. Such integration and the general bias towards tetherless configurations may be referred to as a variant of the "Internet of Things," and may be useful in many systems integration challenges. For example, with reference to Figure 22, a wirelessly connected touch sensing assembly (146) similar to that shown in Figure 21C may be integrated into a door lock system configuration where a person's thumb (452) or other finger may be utilized to engage a deformable transmissive layer to provide a biometric authentication / lock access function to facilitate unlocking. The touch sensing assembly (146) may be wirelessly connected to, for example, one or more computing systems within an associated building and / or one or more computing systems that may be mobile, may reside in a data center, and the like.

[0085] 23A and 23B, a variation of a handheld surface (460) analysis tool featuring a wirelessly connected touch sensing assembly (146) as shown in FIG. 21C is shown, where the housing (458) can be configured to engage a user's hand (462) to facilitate engagement of the deformable transmissive layer and associated interface surface (120) with the surface (460) of a target object for surface analysis. The touch sensing assembly (146) can be wirelessly connected, for example, to one or more computing systems within an associated premises and / or one or more computing systems that may be mobile, resident in a data center, etc., and the handheld assembly can contain its own power source, such as a battery, for operational purposes.

[0086] Referring to FIG. 24A , a touch sensor integrated vehicle configuration is shown with touch sensing assemblies operatively coupled to various structures, such as an elongated touch sensor (436) coupled to a vehicle A-pillar (402), touch sensors (416, 418) coupled to pedals, a touch sensor (420) coupled to the driver's floor, a touch sensor (428) coupled to the center console, a touch sensor (422) coupled to the base of the driver's seat (412), a touch sensor (424) coupled to the driver's seat back, a touch sensor (426) coupled to the driver's headrest, a touch sensor (430) coupled to a shifter member, a touch sensor (432) coupled to the steering wheel, and a touch sensor (434) coupled to a portion of the vehicle's dash, with such sensors connected to a central computing system (144) by wire lead type connections (464).

[0087] 24B, similarly located sensors having wireless connections to the transceiver (166) of the central computing system (144) can help simplify such integration by eliminating the need for specific connection wiring, and can also eliminate the need for power wiring in variations where the sensors are operably coupled to a small power source, such as a battery, which may be rechargeable, for example, via wireless inductance, etc. Thus, an A-pillar touch sensor (436) is shown operably coupled to a wireless transceiver (466), pedal touch sensors (416, 418) are shown operably coupled to wireless transceivers (472, 470, respectively), a floor touch sensor (420) is shown operably coupled to a wireless transceiver (474), a seat base touch sensor (422) is shown operably coupled to a wireless transceiver (476), a seat back touch sensor (422) is shown operably coupled to a wireless transceiver (478), and a headrest touch sensor (424) is shown operably coupled to a wireless transceiver (479). A center console touch sensor (426) is shown operably coupled to a wireless transceiver (486), a shifter assembly touch sensor (430) is shown operably coupled to a wireless transceiver (484), a steering wheel touch sensor (432) is shown operably coupled to a wireless transceiver (482), and a dash (410) touch sensor (436) is shown operably coupled to a wireless transceiver (466), each of said touch sensors being wirelessly connected (166) to the vehicle's central computing system (144).

[0088] Referring again to configurations such as that of FIG. 19A, aspects of touch sensing can be utilized to improve and / or enhance the perception of certain actions at a local workstation for a user, and the value of having multiple sources of sensory data, such as uncorrelated error configurations for so-called "sensor fusion" applications, is discussed. Referring to FIG. 25A, in one embodiment, a system featuring multiple sensing configurations (such as multiple sensing configurations with uncorrelated error sources) is initialized for use at a first location (488). The system can be configured to provide information regarding system operation to an operator via a user interface (490). Influenced by one or more commands entered by the operator, the system can be configured to perform and provide feedback to the operator using a user interface based at least in part on the multiple sensing configurations (492). The system can be configured to optimize operation and feedback via sensor fusion techniques configured to exploit differences in information provided by the multiple sensing configurations (494).

[0089] With reference to FIG. 25B, for a system comprising an electromechanical arm or manipulator as described with reference to FIGS. 21A-21D, a robotic manipulator system featuring a plurality of sensing configurations (e.g., capacitive, resistive, RADAR, LIDAR, camera, load sensor, strain or extension sensor, IMU, and / or joint position sensor configurations, and deformable, permeable layer based touch sensing, and uncorrelated error sources) may be initialized for use at a first location (496). The system may be configured to provide information regarding system operation to an operator via a user interface (498). In response to one or more commands entered by an operator to utilize the robotic manipulator system for a task (e.g., a command to pick up an object from inside a jar), the system is configured to execute and provide feedback to the operator using a user interface based at least in part on the plurality of sensing configurations (500). The system may be configured to optimize operation and feedback via sensor fusion techniques configured to take advantage of differences in information provided by multiple sensing configurations (e.g., as a distal portion of the robotic manipulator system is navigated within the opening of a jar, a particular sensor comprising the multiple sensing configurations may be occluded or temporarily unreliable, while at the same time, preferably at least one other sensing configuration of the multiple sensing configurations has at least some degree of uncorrelated errors, such as deformable transparent layer based touch sensing, to provide reliable information to the system and operator) (502).

[0090] Referring back to FIG. 19B, the integration of one or more touch-translating interfaces (398), such as on the wrist (13) of a user (4), can enhance perception of activity and engagement at a remote location. FIG. 26 illustrates a configuration in which an operator interface (506) local to a user or operator may feature a haptic interface (280), a display system (278), a 3D printer (276), and a computing system (144) (318) interconnected with each of the touch-translating interfaces (504). The user's locally located operator interface (506) is typically separated (640) from the remote operation system (e.g., a robotic arm 234 featuring a touch-sensing assembly 146, as shown in FIG. 26) by inches, feet, miles, or even thousands of miles, depending on the user's configuration, the task at hand, and connection (230, 166) alternatives, such as wired or wireless connections. Referring to FIG. 27, in further detail, the operator interface (506) may comprise interconnected (400) computing (144), master input device / controller (haptic enabled variant shown at 280), 3D printing (276), and display (278) resources, as well as a touch conversion interface (398) such as the variant shown that may be removably coupleable to the wrist (13) of the user (4) and configured to provide one or more components of sensation that may be perceptually linked to activity at a remote location, as described in further detail below.

[0091] In various embodiments that include one or more touch-translation interfaces in the operator interface (506), it may be desirable to position the one or more touch-translation interfaces at locations relative to the user's (4) anatomy that have some kinematic relevance to the activity of components of the remote manipulation or actuation site. For example, referring to FIG. 28A, in an embodiment in which a robotic arm (234) is remotely operated, the robotic arm (234) may have a kinematic portion at least somewhat similar to a "wrist," and the touch-sensing assembly (362) may be operatively coupled to the touch-translation interface that may be removably coupled to the wrist (13) of the user (4) with an interconnected operator interface (503). In other words, if touch / touch sensed at the robot's "wrist" is translated to the user's wrist, the level of intuitive interaction between the local user / operator and the remote robotic manipulator from the operator interface (503) may be improved. Thus, in various embodiments, an attempt may be made to provide at least somewhat kinematically similar pairing between remote touch-sensing and translation resources and local touch-sensing and translation resources.

[0092] Referring again to FIG. 28A , it should also be emphasized that multiple touch sensing assemblies may be integrated for a given implementation, such as an additional at least partially peripheral ranging touch sensing assembly (360) positioned around the distal end of the robotic arm (234) at locations around the sides of the touch sensor (146) and interconnected (232) to the computing resource along with other more proximal touch sensing assemblies (362). Referring to FIG. 28B, in a somewhat kinematically similar functional pairing configuration, a more distal touch translation interface (508), such as a finger-sized cuff removably coupleable to an index finger, may be operably coupled (510) to a computing system, such as via a wired or wireless connection, and configured to translate touch or contact detected at a more distal touch sensing assembly (360) positioned around the distal end of the robotic arm (234) at the remote location shown in FIG. 28A, and a more proximal touch sensing assembly (398) is removably coupled to the forearm or wrist (13) of a user (4) and operably coupled (400) to a computing system, such as via a wired or wireless connection, and configured to translate touch or contact detected at a more proximal touch sensing assembly (362) positioned around the “wrist” of the robotic arm (234) at the remote location shown in FIG. 28A.

[0093] Referring to FIG. 29A, a grasper (518) style end effector is shown having two opposing movable members (520, 522) that can be controllably advanced toward one another for grasping. In various embodiments, a touch sensing assembly can be integrated into and operatively coupled to these opposing movable members (520, 522) to aid in the perception of motions associated therewith. Referring to FIG. 29B, a master input device arrangement (516) is configured to enable two opposing fingers of a user's hand (12) to remotely control a grasping action, such as the grasper's grasping action as shown in FIG. 29A, at least in part, in a kinematically similar aspect (i.e., by moving the opposing digits toward one another, the opposing movable members 520, 522 can be moved toward one another).

[0094] 29C and 29D, a plurality of removably coupleable touch conversion interfaces (508, 512) can be operably coupled (510, 514, respectively) via wired or wireless connections, etc., to a computing system that can be operably coupled to a remote device, such as the gripper (518) shown in FIG. 29A, to provide improved intuitiveness to a user or operator. (Again, opposing fingers can be moved toward each other to move opposing movable members 520, 522 toward each other, and touch / contact information detected by the touch sensing assemblies at the opposing movable members 520, 522 can be utilized as input to the sensations generated for the user in the touch conversion interfaces 508, 512.) FIG. 29C illustrates an embodiment in which the touch conversion interface (508, 512) is removably coupled to a user's index finger (526) and middle finger (528), and FIG. 29D illustrates an embodiment in which the touch conversion interface (508, 512) is removably coupled to a user's index finger (526) and thumb (524).

[0095] Referring to FIG. 30A, a touch conversion interface (398) removably coupleable to a user (4) is shown with an operable coupling, such as a wired or wireless connection (400, 230, 166) to a computing system (144). The touch conversion interface (398) may comprise a single touch conversion element, as shown, or a plurality (530) of touch conversion elements to assist the user (4) in enhancing the perception of touch and / or contact with the interconnected touch sensing assembly. Referring to FIG. 30B-33B, various types, combinations, and permutations of touch conversion elements may be utilized in various embodiments. Referring to FIG. 30B, an unbalanced electric motor (532) may be utilized as the touch conversion element to provide vibration and frequency variable touch conversion. Referring to FIG. 30C, a light emitting diode ("LED") (534) may be utilized as the touch conversion element to visually translate to the user that contact or touch has occurred, with brightness output that may vary depending on the magnitude of the touch or contact load, and various colors / wavelengths may be utilized. With reference to Figure 30D, a piezoelectric assembly (536) may be utilized as the touch transducer to provide a relatively high frequency vibration response in response to contact or touch, the frequency and / or intensity of which may vary in response to the magnitude of the touch or touch load. With reference to Figure 30E, an audio speaker assembly (538) may be utilized as the touch transducer to provide an audible response in response to contact or touch, the frequency and / or intensity of which may vary in response to the magnitude of the touch or touch load. With reference to Figures 30F and 30G, one or more so-called "shape memory alloy" ("SMA") segments (540) may be utilized as the touch transducer comprising an alloy material such as nickel / titanium.As shown in the chart (544) of FIG. 30G, for example, commercially available SMA alloys may be configured to shrink in size quite dramatically (e.g., in the range of shrinking to ½ of their low temperature length when heated via a current passing circuit as shown in FIG. 30F; 542) and thus may be utilized to controllably apply and / or relieve mild hoop stresses and / or hoop strains when formed into a hoop or cuff type configuration, for example, as shown in the variations shown in FIGS. 32A and 32B.

[0096] Thus, referring to FIG. 31A, a touch conversion interface (398) operably coupled (400) to a computing system, such as via a wired or wireless communication arrangement, can be removably coupled to a user (4), such as at the wrist (13), and can include a controllably actuable haptic actuator motor, such as an unbalanced motor (532). Referring to FIG. 31B, a touch conversion interface (398) operably coupled (400) to a computing system, such as via a wired or wireless communication arrangement, can be removably coupled to a user (4), such as at the wrist (13), and can include one or more LEDs (534). Referring to FIG. 31C, a touch conversion interface (398) operably coupled (400) to a computing system, such as via a wired or wireless communication arrangement, can be removably coupled to a user (4), such as at the wrist (13), and can include a controllably actuable piezoelectric assembly (536). Referring to Fig. 31D, a touch conversion interface (398) operably coupled (400) to a computing system, for example, via a wired or wireless communication arrangement, can be removably coupled to a user (4), such as at the wrist (13), and can include a controllably actuable audio speaker assembly (538). Referring to Fig. 31E, a touch conversion interface (398) operably coupled (400) to a computing system, for example, via a wired or wireless communication arrangement, can include one or more controllably actuable shape memory alloy segments (540), which can be removably coupled to a user (4), such as at the wrist (13). Figs. 32A and 32B, when viewed from orthogonal perspectives, show that a configuration such as that shown in Fig. 31E can include a single SMA segment (540) as in the variation of Fig. 32A, or multiple SMA segments (540, 546, 548, 550), each of which can be individually controllable.

[0097] Referring again back to Figure 30A, the touch conversion interface may comprise a plurality (530) of touch conversion elements that may be similar or different from one another. For example, referring to Figure 33A, a touch conversion interface (398) operably coupled (400), such as via a wired or wireless communication arrangement, to a computing system may be removably coupled to a user (4), such as at the wrist (13), and may comprise three or more controllably actuable shape memory alloy segments (540, 552, 554) positioned longitudinally relative to one another when coupled to the touch conversion interface (398). FIG. 33B illustrates a configuration in which the touch conversion interface comprises a number of fairly extensive touch conversion elements, such as a number of SMA segments (540, 552, 554), a number of haptic motors (532, 533), a number of piezoelectric assemblies (536, 537), a number of audio speaker assemblies (538, 539), and a number of LEDs (534, 535), each of which can be individually and / or independently actuated and controlled to provide an enhanced perception to the user at the local touch workstation.

[0098] Referring first to FIGURE 36, a surgical robotics integrated configuration is shown in which an operator located at a touch-sensing facilitated operator workstation can utilize a surgical robotics system at a remote location, such as a location (640) separated from the operator workstation across a room, across the country, or across the globe, and touch conversion elements can be utilized to enhance the operator's understanding of contacts, touches, and other activities at the remote location during surgical navigation and manipulation of a robotic surgical end effector, such as a grasper (518), relative to a target portion (576) of a target tissue structure (572). As shown in FIGURE 36, the operator workstation can include one or more (530) element touch conversion interfaces (398) removably coupled to a portion of a user (4), such as a wrist (13), and the element touch conversion interface can be configured to respond to contacts at a wrist portion (582) touch sensing assembly (360) of a robotic instrument (594). The operator workstation may further include two additional touch conversion interfaces (508, 512) that may be configured to respond to contacts at touch sensing assemblies (602, 604) coupled to respective counterpart robotic gripper members (522, 520). The touch conversion interfaces may be operably coupled (400, 510, 514, 230, 166) to the computing system (144), such as via a wired or wireless connection. The touch sensing assemblies may likewise be operably coupled (592, 606, 608, 230, 166) to the computing system (144), such as via a wired or wireless connection. Thus, as the remotely controllable robotic instrument (594) advances and is navigated toward a target portion (576) of the target tissue structure (572), the workstation user (4) may be provided with intuitive sensory cues regarding contact and contact between the sides of the instrument and the sides of the tissue, such as contact between the robotic instrument wrist (582) and a wall or margin (578) of the tissue structure (572), and contact between the robotic instrument grasper (518) members (520, 522) and a wall or margin (578, 576) of the tissue structure (572).Preferably, the one or more image capture devices can be configured to capture one or more views of the surgical scenario that are presented (598) to a user (4) at an operator workstation, such as on a display (278), which can be operatively coupled to the computing system (144), such as by a wired or wireless connection.

[0099] Thus, with reference to the process flow of Figure 34, a user at a local workstation has connectivity to a remote engagement arrangement in the remote environment, such as an operably coupled robotic arm having one or more connected touch-sensitive surfaces, to assist the user in physically engaging one or more aspects of the remote environment (556). The local workstation and the remote engagement arrangement are powered on, started, and ready for remote touch engagement by the user (558). The user can manipulate a master input device at the local workstation that is operably coupled to the remote engagement arrangement (e.g., to a robotic arm operably coupled in the remote environment) to physically engage one or more aspects of the remote environment (e.g., to physically engage a surface of an object in the remote environment) (560). Through the local workstation, the user can experience and understand aspects of the physical engagement between the remote engagement workstation and one or more aspects of the remote environment (e.g., by locally perceiving various levels of touch engagement in the remote environment via the local workstation; e.g., a cuff touch sensor operably coupled to a distal portion of a robotic arm in the remote environment may be configured to provide the user with an intuitive understanding of touch engagement in the remote environment, such as through a local touch translation interface that may be coupled to the user, and may be configured to locally provide one or more modalities of remote touch-derived feedback, such as through a kinematically similar and / or intuitive local configuration of the local touch translation interface) (562).

[0100] With reference to Figure 37, a similar use of a touch translation interface and a touch-based operator workstation may be utilized to assist a user in experiencing contact, touch, and associated activities in a remote environment that is truly remote (i.e., only "real" insofar as it is created on a computer) in that it is a virtual environment (612). For example, in the embodiment of Figure 37, a user may utilize a haptic master input device (280) to navigate a mobile arm robot (622) virtual element within a virtual environment (612) that includes virtual aspects such as a virtual road (614), virtual walls (616) defining a cavity (618), and virtual prize elements (620) or objectives, such as a game-based "pot of gold" element that may be acquired or won by the user if the user is able to successfully grasp the virtual prize element (620) using virtual gripper elements (628, 630) mounted on a virtual robot arm (626) mounted on a virtual mobile base (624) within the depicted virtual environment (612). The virtual touch-sensing elements (632, 634, 636) may be virtually coupled to the wrist portion of the virtual robot arm (626) and the virtual gripper elements (628, 630) and configured to function in providing a real user at the user workstation with a perception of touch or contact with the virtual robot structure relative to other aspects of the virtual environment (612), such as portions of the virtual wall (616). In other words, when the user drives the virtual robot (622) such that the virtual gripper elements (628, 630) hit portions of the virtual wall (616), such contact and / or intersection may be translated back to the touch translation interface (508, 512, 398) at the user workstation to help provide the user with an intuitive perception of activity within the virtual environment (612).

[0101] Thus, with reference to Figure 35, a user at a local workstation may have connectivity to a virtual remote engagement arrangement in the virtual remote environment, such as an operably coupled virtual robotic arm having one or more connected virtual touch-sensitive surfaces to assist the user in physically engaging one or more aspects of the virtual remote environment (564). The local workstation and the virtual remote engagement arrangement are powered on, started, and ready for virtual remote touch engagement by the user (566). The user may manipulate a master input device at the local workstation that is operably coupled to the virtual remote engagement arrangement (such as to a virtual robotic arm operably coupled to the virtual remote environment) to physically engage one or more aspects of the virtual remote environment (e.g., virtually physically engage a surface of an object in the virtual remote environment) (568). Through the local workstation, the user can experience and understand aspects of the virtual physical engagement between the virtual remote engagement workstation and one or more aspects of the virtual remote environment (e.g., by locally perceiving various levels of virtual touch engagement in the virtual remote environment via the local workstation; e.g., a cuff touch sensor virtually operably coupled to a distal portion of a virtual robotic arm in the virtual remote environment may be configured to provide the user with an intuitive understanding of the virtual touch engagement in the virtual remote environment, such as through a local touch translation interface, which may be coupled to the user and configured to locally provide one or more modalities of remote touch-derived feedback, such as through a kinematically similar and / or intuitive local configuration of the local touch translation interface) (570).

[0102] Referring to FIG. 38A, an orthogonal view is shown featuring a bushing or at least partially cylindrical type touch sensing assembly (656) that may be fixedly or removably coupled to a structural element, such as a shaft member (654) of a machine or machine component as may be desired for a loaded configuration during operation. For illustrative purposes, the touch sensing assembly (656) is shown with the shaft member (654) mounted on the top surface (670) of the table (652), and an interface (726) between the touch sensing assembly (656) and the shaft member (654) may generally be bonded to prevent relative movement during loading. The touch sensing assembly (656) may be operably coupled (658, 230, 166) to a computing system (144), such as via a wired or wireless coupling, and may include a number of imaging devices (106) and sources (116). During operation, loading of the shaft member (654), such as bending back and forth (662, 660), can place portions of the touch sensing assembly (656) in compression, tension, shear, etc., and such loading can be detected and characterized by a computing system using associated imaging devices (106) and sources (116), which can be arranged in sectors (e.g., four pairings are shown around the periphery of the touch sensing assembly 656). A side view of a similar configuration is shown in Figure 38B.

[0103] Figure 38C illustrates a configuration somewhat similar to that of Figure 38B, but with the addition of a structural cap member (668) that may be configured to constrain the touch sensing assembly (656) at the junction of the structural cap member (668) and the shaft member (654). With such a configuration, the cylindrical touch sensing assembly (656) may be placed in more pure compression or tension due to the bends (662, 660) of the shaft member (654).

[0104] Referring to Figure 38D, a configuration somewhat similar to that of Figure 38C is shown, but with a structural cap (668) and a solid cylindrical touch sensing assembly (672) forming a cylindrical base or pad to which the end of the shaft (654) may be attached (i.e., the shaft shown in Figure 38D does not pass through the cylindrical touch sensing assembly 672). Such a configuration also facilitates the cylindrical touch sensing assembly (672) to detect not only bending (662, 660) type loads, but also tensile or compressive loads (667, 664) on the shaft member (654), and generally facilitates a fairly broad characterization of loading paradigms on the associated structural member (654) depending on the source / imaging device (e.g., 116 / 106 in Figure 38A).

[0105] Referring to FIG. 38E, it is important to note that the sensor and / or emitter portions may be positioned in direct contact with the optical element material of the touch sensing assembly (656), as in the configuration of FIG. 38A, or may be positioned in a more removed location by using a configuration such as fibers or bundles thereof (132, 138) to operably couple to another location, such as the illustrated radiation detection controller (734) module (730, 732, operably coupled to the computing system 144 and power source 102), which may include interfaces (764, 766) configured to efficiently transport light or other radiation between one or more sources and one or more image capture devices that may be contained therein.

[0106] 38F, various aspects of the system configuration can be coupled to mechanical components to aid in removal of tethers and wired couplings, such as in cyclic torsional loading (758) around an axis (760) scenarios in mechanical applications, and wirelessly connected to avoid various tether-based limitations. For example, referring to FIG. 38F, a module or housing (742) may include interconnected (752, 754) power source (744), battery charging (748), and computer / controller (746) elements that may be interconnected (756) to the touch sensing assembly (656) and a more remotely located computing device (144) via wireless connections (167, 166). A motion-based charger (748) featuring a small mass (750) configured to vibrate and provide a low level of electrical current based on the vibrational motion of an associated shaft (654) may be configured to continuously charge the battery (744); for example, the mass (750) may be configured to vibrationally move magnetic material through one or more coils, or may be configured to load a piezoelectric member with shaft motion (such as via angular acceleration and velocity squared / radius relationships) to provide a low level of charging current to the battery (744).

[0107] Referring to FIG. 39, a configuration similar to FIG. 36 is shown with the addition of small touch sensitive assembly pads (678, 680) interconnected (674, 676, 230, 166) to a computing system (144) via a wired or wireless connection, etc., to provide further characterization of the opposing gripper elements of the gripper (582), in a manner similar to that described above in connection with FIG. 38D.

[0108] With reference to FIG. 40 , a user plans to perform a medical procedure on a patient using an electromechanical system, such as a robot, configured to have an interventional tool, such as a grasper, integrated with one or more touch sensors featuring one or more deformable transmissive layers (690). The user can initiate and calibrate the system using a computing system operably coupled between the electromechanical system and a user workstation (692). The user can navigate the interventional tool toward the patient's anatomy from the workstation, which can be located near or remote from the patient, and which includes a display system configured to display aspects of the environment around the interventional tool, a control interface, such as a haptic interface, to assist the user in providing commands to the interventional tool, and a touch translation interface, which can be configured to provide the user with input responsive to detected contact or touches at one or more touch sensors operably coupled to the interventional tool (694). A user may utilize the control interface to contact the interventional tool with a target tissue structure of the patient to perform one or more aspects of the medical procedure while obtaining and / or perceiving information about the environment adjacent the interventional tool, such as contact between the interventional tool and the target tissue structure, which may be perceived and / or observed by utilizing aspects of the user workstation, such as a display system, a control interface, and / or a touch translation interface (696). The user may complete the medical procedure or a portion thereof by using the user workstation to move the interventional tool away from the target tissue structure and the patient (698).

[0109] 41, a user can plan to perform a procedure on a virtual environment, such as a video game, using a virtual electromechanical system, such as a virtual robot, which can be configured to have a virtual tool, such as a grasper, integrated with one or more virtual touch sensors that can be operably coupled to one or more touch-translation interfaces (702). A user can initiate and calibrate the system using a computing system operably coupled between the virtual electromechanical system and a user workstation (704). A user can navigate the virtual tool towards a virtual target from a workstation that can be located near or remote from the patient, the workstation comprising a display system configured to display aspects of the environment around the virtual tool, a control interface, such as a haptic interface to assist the user in providing commands to the virtual tool, and a touch-translation interface that can be configured to provide the user with input responsive to detected contact or touches at one or more virtual touch sensors operably coupled to the virtual tool (706). The user may utilize the control interface to contact the virtual tool with one or more virtual objects to perform one or more aspects of a desired virtual tool movement while obtaining and / or perceiving information about the environment adjacent to the virtual tool, such as contact between the virtual tool and one or more virtual objects, which may be perceived and / or observed by utilizing aspects of the user workstation, such as a display system, a control interface, and / or a touch translation interface (708). The user may complete a procedure or a portion thereof by virtually detaching the virtual tool from the one or more virtual objects using the user workstation (710).

[0110] With reference to FIG. 42, a user can plan to perform a medical procedure on a patient using an electromechanical system, such as a robot, configured with an interventional tool, such as a grasper, integrated with one or more touch sensors featuring one or more deformable transmissive layers, as well as one or more control sensors that may also feature one or more deformable transmissive layers (714). A user can initiate and calibrate the system using a computing system operably coupled between the electromechanical system and a user workstation (716). A user can navigate the interventional tool toward the patient's anatomy from a workstation that may be located near or remote from the patient, the workstation comprising a display system configured to display aspects of the environment around the interventional tool, a control interface, such as a haptic interface, to assist the user in providing commands to the interventional tool, and a touch translation interface that may be configured to provide the user with input responsive to detected contact or touches at one or more touch sensors operably coupled to the interventional tool (718). A user may utilize the control interface to contact the interventional tool with a target tissue structure of the patient to perform one or more aspects of the medical procedure while obtaining and / or perceiving information about the environment adjacent the interventional tool, such as contact between the interventional tool and the target tissue structure, which may be perceived and / or observed by utilizing aspects of the user workstation, such as a display system, a control interface, and / or a touch translation interface (720). The user may complete the medical procedure or a portion thereof by using the user workstation to move the interventional tool away from the target tissue structure and the patient (722).

[0111] 43, the mechanical system may include a structural member, such as a shaft, beam, or elongated member, that may be loaded in bending, tension, and / or shear, etc., during operation of the mechanical system, and may be coupled to a sensing assembly including a deformable transparent layer (770). The sensing assembly may be operatively coupled to a computing system and an imaging device such that at least one mode of loading and / or deformation of the structural member may be monitored utilizing the computing system (772). The sensing assembly and computing system may be initialized, calibrated, and / or configured to sense one or more aspects of the structural member during operation of the mechanical system (774). The computing system may be configured to provide an output for an operator regarding the real-time or near real-time loading configuration of the mechanical system, such as loading data regarding the structural member that may be displayed for the operator and / or an indication for the operator that one or more predefined loading thresholds have been approached or met within the mechanical system (776). The computing system may be further configured to facilitate altering the operation of the mechanical system, such as reducing the load demand or shutting down one or more aspects of the mechanical system, if the computing system determines that an overload condition has been met, such as by comparing the output from the sensing assembly to one or more predetermined load thresholds (778).

[0112] With reference to FIG. 44, a vehicle such as an automobile may include one or more structural components, such as one or more housings and / or support structures, that may be loaded in bending, tension, and / or shear, etc., during operation of the vehicle, and may be coupled to one or more sensing assemblies including one or more deformable transmissive layers (780). The one or more sensing assemblies may be operatively coupled to a computing system and one or more imaging devices, such that at least one mode of loading and / or deformation of the one or more structural components may be monitored utilizing the computing system (782). The one or more sensing assemblies and computing system may be initialized, calibrated, and / or configured to sense one or more aspects of the one or more structural components during operation of the one or more structural components and vehicle (784). The computing system may be configured to provide an output for an operator regarding a real-time or near real-time loading configuration of the one or more structural components, such as loading data that may be displayed for an operator and / or utilized to generate an indication to the operator that one or more predetermined loading thresholds for the one or more structural components have been approached or met (786). The computing system may be further configured to facilitate altering the operation of one or more structural components and / or other components of the vehicle, such as reducing load demand or shutting down one or more operably coupled systems, components, or subsystems, if the computing system determines that an overload condition has been met, for example, by comparing output from the one or more sensing assemblies to one or more predetermined load thresholds (788).

[0113] 45, the mechanical system may include a structural member, such as a shaft, beam, or elongated member, that may be loaded in bending, tension, and / or shear, etc., during operation of the mechanical system, and may be coupled to a sensing base assembly that includes a deformable transparent layer (790). The sensing base assembly may be operatively coupled to a computing system and an imaging device such that at least one mode of loading and / or deformation of the structural member may be monitored utilizing the computing system (792). The sensing base assembly and computing system may be initialized, calibrated, and / or configured to sense one or more aspects of the structural member during operation of the mechanical system (794). The computing system may be configured to provide an output for an operator regarding the real-time or near real-time loading configuration of the mechanical system, such as loading data regarding the structural member that may be displayed for the operator and / or an indication for the operator that one or more predefined loading thresholds have been approached or met within the mechanical system (796). The computing system may be further configured to facilitate altering the operation of the mechanical system, such as reducing the load demand or shutting down one or more aspects of the mechanical system, if the computing system determines that an overload condition has been met, such as by comparing the output from the sensing base assembly to one or more predetermined load thresholds (798).

[0114] 46, a user at a local workstation may have connectivity to a remote engagement arrangement in the remote medical intervention environment, such as an operably coupled medical robotic arm having one or more connected touch-sensitive surfaces, to assist the user in physically engaging one or more aspects of the remote medical intervention environment (802). The local workstation and the remote engagement arrangement are powered on, started, and ready for remote medical touch engagement by the user (804). The user may manipulate a master input device at the local workstation operably coupled to the remote engagement arrangement (such as an operably coupled medical robotic arm in the remote environment) to physically engage one or more aspects of the remote environment (e.g., to physically engage a surface of an object in the remote environment, such as a target tissue structure) (806). Through the local workstation, the user can experience and understand aspects of the physical engagement between the remote engagement workstation and one or more aspects of the remote environment (e.g., by locally perceiving various levels of touch engagement in the remote environment via the local workstation; e.g., a cuff touch sensor operably coupled to a distal portion of a medical robotic arm in the remote environment may be configured to provide the user with an intuitive understanding of touch engagement in the remote environment, such as through a local touch translation interface, which may be coupled to the user and configured to locally provide one or more modalities of remote touch-derived feedback, such as through a kinematically similar and / or intuitive local configuration of the local touch translation interface) (808).

[0115] 47, a user of a local workstation may have connectivity to a remote engagement configuration in the remote medical intervention environment, such as an operably coupled medical robotic arm having one or more connected touch-sensitive surfaces, to assist the user in controlling the remote engagement configuration to physically engage one or more aspects of the remote medical intervention environment (810). The local workstation and the remote engagement configuration are powered on, started, and ready for remote medical touch engagement by the user (812). The user may manipulate a master input device at the local workstation operably coupled to the remote engagement configuration (to a medical robotic arm operably coupled in the remote environment) to physically engage one or more aspects of the remote environment (e.g., to physically engage a surface of an object in the remote environment, such as a target tissue structure), within one or more predetermined load limits, which may be monitored for one or more loads applied to the one or more connected touch-sensitive surfaces (814). Through the local workstation, the user can experience and understand aspects of the physical engagement between the remote engagement workstation and one or more aspects of the remote environment (e.g., by locally perceiving various levels of touch engagement in the remote environment via the local workstation; e.g., a cuff touch sensor operably coupled to a distal portion of a medical robotic arm in the remote environment may be configured to provide the user with an intuitive understanding of touch engagement in the remote environment, such as through a local touch conversion interface, which may be coupled to the user and configured to locally provide one or more modalities of remote touch derived feedback, such as through a kinematically similar and / or intuitive local configuration of the local touch conversion interface), and can physically engage aspects of the remote medical intervention environment within one or more predetermined load limits, which may be monitored against one or more loads applied to one or more connected touch sensitive surfaces (816).

[0116] 48, an embodiment similar to that of FIG. 29C is shown to illustrate a hybrid configuration of both touch sensing and touch conversion for each of two fingers (index finger 526, middle finger 528), where the touch conversion interfaces (508, 512) can be removably coupled to each finger to obtain kinematically similar feedback as described above with reference to FIG. 29C, with the addition of, for example, cuff-type touch sensing interfaces (822, 820; e.g., similar to those 360, 362 described above with reference to FIG. 18C), which can be removably coupled to the fingers and operably coupled (826, 824) to a computing system, such as via a wired or wireless connection (510, 514). Such an arrangement can be configured and operative to provide a user with one or more sensations intuitively related to activity at an interconnected system, such as a remotely located robotic grasper, as well as to provide further information to the interconnected computing system regarding the local activity of the user's fingers (e.g., the touch-sensing interfaces (822, 820) can be utilized to detect finger motion, activity, movement, or intent, as well as associated increases or decreases in hoop stress or hoop strain that can be correlated with contact between the finger and another object).

[0117] Thus, referring to Fig. 49, an exemplary variation that may employ an arrangement such as that described above with reference to Fig. 48 is shown. Referring to Fig. 49, a user at a local workstation may have connectivity to a remote engagement arrangement in a remote environment, such as an operably coupled robotic arm having one or more connected touch-sensitive surfaces, to assist the user in physically engaging one or more aspects of the remote environment (830). The local workstation and the remote engagement arrangement are powered on, started, and ready for remote and local touch engagement by the user (832). The user may operate a master input device and a local touch-sensing arrangement at the local workstation, both of which may be operably coupled via a computing system to a remote engagement arrangement (such as an operably coupled robotic arm in the remote environment) to physically engage one or more aspects of the remote environment (such as physically engaging a surface of an object in the remote environment) (834). Through the local workstation, the user's touch activity can be sensed to assist in the operation of the remote engagement configuration, and the user can experience and understand aspects of the physical engagement between the remote engagement workstation and one or more aspects of the remote environment (e.g., by locally perceiving various levels of touch engagement in the remote environment via the local workstation, e.g., a cuff touch sensor operably coupled to a distal portion of a robotic arm in the remote environment may be configured to provide the user with an intuitive understanding of touch engagement in the remote environment, such as through a local touch translation interface, which may be coupled to the user and configured to locally provide one or more modalities of remote touch-derived feedback, such as through a kinematically similar and / or intuitive local configuration of the local touch translation interface) (836).

[0118] Referring to FIG. 50, a configuration similar to that of FIG. 49 is shown, but the operator / user may utilize a similar hybrid local interface to operate within a synthetic or virtual environment. Referring to FIG. 50, a user at a local workstation may have connectivity to a virtual remote engagement configuration in the virtual remote environment, such as an operably coupled virtual robotic arm having one or more connected virtual touch-sensitive surfaces to assist the user in physically engaging one or more aspects of the virtual remote environment (840). The local workstation and the virtual remote engagement configuration are powered on, started, and ready for virtual remote touch engagement by the user (842). The user may operate a master input device and a local touch-sensing configuration at the local workstation, both of which may be operably coupled to the virtual remote engagement configuration (such as an operably coupled virtual robotic arm in the virtual remote environment) to physically engage one or more aspects of the virtual remote environment (such as virtually physically engaging a surface of an object in the virtual remote environment) (844). Touch activity can be sensed for the user via the local workstation to assist in manipulating the virtual remote engagement configuration, and the user can experience and understand aspects of the virtual physical engagement between the virtual remote engagement workstation and one or more aspects of the virtual remote environment (e.g., by locally perceiving various levels of virtual touch engagement in the virtual remote environment via the local workstation, e.g., a cuff touch sensor virtually operably coupled to a distal portion of a virtual robotic arm in the virtual remote environment may be configured to provide the user with an intuitive understanding of the virtual touch engagement in the virtual remote environment, such as via a local touch translation interface, which may be coupled to the user and configured to locally provide one or more modalities of remote touch derived feedback, such as via a kinematically similar and / or intuitive local configuration of the local touch translation interface) (846).

[0119] Various exemplary embodiments of the present invention are described herein. Reference is made to these examples in a non-limiting sense. These examples are provided to illustrate the broader applicable aspects of the present invention. Various modifications may be made to the described invention, and equivalents may be substituted without departing from the true spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation, material, composition of matter, process, process acts or steps to the objective, spirit or scope of the present invention. Moreover, those skilled in the art will recognize that each of the individual variations described and illustrated herein have individual components and features that may be readily separated or combined with the features of any of the other several embodiments without departing from the scope or spirit of the present invention. All such modifications are intended to be within the scope of the claims associated with this disclosure.

[0120] The present invention includes methods that can be carried out using the subject devices. The methods may include the act of providing such a suitable device. Such providing may be performed by an end user. In other words, the act of "providing" merely requires that the end user obtain, access, approach, locate, configure, activate, power on, or otherwise act to provide the required device in the method. The methods recited herein may be carried out in any order of the recited events that is logically possible, as well as in the recited order of events.

[0121] Exemplary aspects of the invention are described above, along with details regarding material selection and manufacture. As for other details of the invention, these are known or may be recognized in connection with the above-referenced patents and publications, as well as generally by those skilled in the art. The same may be true with respect to method-based aspects of the invention, with respect to additional operations that are generally or logically employed.

[0122] Furthermore, although the present invention has been described with reference to several examples incorporating various features as appropriate, the present invention is not limited to those described or shown as contemplated for each variation of the present invention. Various modifications can be made to the described invention and equivalents (whether listed herein or not included for some brevity) can be substituted without departing from the true spirit and scope of the invention. Furthermore, when a range of values ​​is provided, it is understood that all intervening values ​​between the upper and lower limits of the range, and any other stated or intervening values ​​within the stated range, are included in the present invention.

[0123] It is also contemplated that any feature of any of the described inventive variations may be described and claimed independently or in combination with any one or more of the features described herein. Reference to a singular item includes the possibility of a plurality of the same items. More specifically, as used in this specification and the claims related thereto, the singular forms "a," "an," "said," and "the" include plural referents unless otherwise indicated. In other words, the use of the article allows for "at least one" of the subject items in the description above, as well as the claims related to this disclosure. Furthermore, it is noted that such claims may be drafted to exclude any element. Thus, this statement is intended to serve as a predicate for the use of exclusive terms such as "solely," "only," and the like in connection with the recitation of elements in the claims, or the use of a "negative" limitation.

[0124] Without using such exclusive terms, the term "comprising" in claims relating to this disclosure is intended to permit the inclusion of any additional elements, regardless of whether a given number of elements are recited in such claim, or whether the addition of features can be considered to change the nature of the elements recited in such claim. Except as specifically defined herein, all technical and scientific terms used herein should be given the broadest possible commonly understood meaning while maintaining the validity of the claims.

[0125] The breadth of the present invention is not limited to the examples and / or subject matter provided, but rather is limited only by the language of the claims associated with this disclosure.

Claims

1. 1. A system for characterizing interactions between surfaces, comprising: a. a deformable permeable layer coupled to an interface membrane, the interface membrane interfacing with at least one side of the interface-bonded object; b. a first illumination source operably coupled to the deformable transmissive layer, the first illumination source configured to emit first illumination light toward the deformable transmissive layer in a known first illumination direction relative to the deformable transmissive layer such that at least a portion of the first illumination light interacts with the deformable transmissive layer; c. a detector configured to detect light from within at least a portion of the deformable transmissive layer; a computing system configured to operate the detector to detect at least a portion of light directed from the deformable transmissive layer, determine a surface orientation with respect to a position along the interface film based at least in part on an interaction of the first illumination light with the deformable transmissive layer, and use the determined surface orientation to characterize a geometric profile of the at least one side of the interface-bonded object interfacing with the interface film; e. a robotic manipulator operatively coupled to the computing system and the deformable transparent layer, the robotic arm configured to controllably position and orient the deformable transparent layer with respect to the interface-bonded object such that the computing system can characterize the geometric profile of the at least one side of the interface-bonded object interfacing with the interface film in terms of the relative positions and orientations of the deformable transparent layer and the interface-bonded object, respectively; A system comprising:

2. The system of claim 1 , wherein the robotic manipulator comprises a robotic arm.

3. The system of claim 2 , wherein the robotic arm comprises a plurality of joints connected by substantially rigid linkage members.

4. The system of claim 1 , wherein the robotic manipulator comprises a flexible robotic instrument.

5. The system of claim 1 , further comprising an end effector coupled to the robotic manipulator.

6. The system of claim 5 , wherein the end effector comprises a grasper.

7. The system of claim 1 , wherein the first illumination source comprises a light emitting diode.

8. The system of claim 1 , wherein the detector is a photodetector.

9. The system of claim 1 , wherein the detector is an image capture device.

10. The system of claim 9 , wherein the image capture device is a CCD or CMOS device.

11. The system of claim 1 , further comprising a lens operatively coupled between the detector and the deformable transmissive layer.

12. The system of claim 1 , wherein the computing system is operably coupled to the detector and configured to receive information from the detector regarding light detected by the detector from within the deformable transmissive layer.

13. The system of claim 1 , wherein the computing system is operably coupled to the first illumination source and configured to control radiation from the first illumination source.

14. The system of claim 1 , wherein the deformable transmission layer comprises an elastomeric material.

15. 15. The system of claim 14, wherein the elastomeric material is selected from the group consisting of silicone, urethane, polyurethane, thermoplastic elastomer (TPE), and thermoplastic polyurethane (TPU).

16. 15. The system of claim 14, wherein the deformable transmissive layer comprises a composite having a pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance that is greater than an illumination reflectance of the elastomeric matrix.

17. The system of claim 16 , wherein the pigment material comprises a metal oxide.

18. The system of claim 1 , wherein the interface membrane comprises an elastomeric material.

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