Acoustic Gripper Fingers for Occlusion-Free Reactive Positioning
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Solution Overview
Problem
Existing robotic manipulation systems face challenges in achieving reliable reactive positioning due to occlusions and limitations in proximity and contact sensing, which hinder successful grasping operations.
Innovation Solution
The use of an acoustic transducer embedded in robot gripper fingers to generate omnidirectional vibrational energy for pre-touch proximity and contact detection, enabling accurate grasp positioning through signal processing and detection thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If optical sensors are used for proximity detection, then detection range is extended, but detection reliability deteriorates due to occlusions by the gripper and robot
Solution Approach 1:
The patent replaces optical sensing systems with acoustic vibration-based sensing. The transducer generates mechanical vibrations that propagate through the robot's mechanical structure (fingers, links) to detect contact and proximity. This mechanical substitution eliminates the occlusion problem that plagues optical sensors, as mechanical vibrations travel through the solid structure regardless of visual blockages, thereby maintaining detection reliability while preserving detection range.
2Measurement precision
If tactile sensors are used for contact detection, then grasp accuracy is improved, but reactive positioning capability deteriorates due to lack of pre-contact information
Solution Approach 1:
The patent implements preliminary action by detecting proximity and predicting contact points before actual tactile contact occurs. The transducer monitors mechanical vibrations that change as the gripper approaches the object, allowing the system to anticipate contact and adjust positioning proactively. This preliminary detection phase enables reactive positioning adjustments to be made before contact, combining the accuracy of pre-contact positioning with the reliability of contact confirmation.
Solution Approach 2:
The patent ensures continuity of useful action by maintaining uninterrupted sensing throughout the entire interaction sequence - from approach through contact to grasp. The mechanical vibration-based sensing provides continuous feedback without the gaps that occur when transitioning between optical (pre-contact) and tactile (post-contact) modalities. This continuous sensing enables smooth, reactive positioning adjustments throughout the manipulation task, improving both accuracy and productivity.
3Adaptability or versatility
If multiple sensing modalities are implemented for proximity and contact sensing, then sensing capability is improved, but device complexity increases
Solution Approach 1:
The patent applies universality by designing a single transducer that performs multiple sensing functions - proximity detection, contact detection, and grasp quality assessment - all through mechanical vibration analysis. Rather than implementing separate optical sensors, tactile sensors, and force sensors, the mechanical vibration-based system provides all these capabilities through one component. This multi-functional approach maintains versatile sensing capability while dramatically reducing device complexity compared to multi-modality systems.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables reliable pre-grasp alignment and contact sensing independent of optical occlusions, enhancing the accuracy and reliability of robotic grasping operations.
Implementation Method 1
convert an acoustic reflection of the vibrational energy from an object into a voltage signal
Implementation Method 2
an acoustic layer disposed in the circular indentation, provided between the first surface and the transducer, and configured to optimize acoustic generation and transmission from the transducer to the first surface
Data Source
AI summary
In some embodiments, an apparatus for performing reactive positioning of a robot gripper includes one or more fingers disposed on an end-effector of the robot, a signal processing circuit, a memory storing instructions, and a processor. Each of the one or more fingers includes a transducer configured to generate vibrational energy based on an input signal, and convert an acoustic reflection of the vibrational energy from an object into a voltage signal. The signal processing circuit is configured to provide the input signal to each transducer, and perform signal processing on the voltage signal of each transducer resulting in reflection data. The processor is configured to execute the instructions to perform pre-touch proximity detection on the reflection data, perform grasp positioning on the reflection data, perform contact detection from the reflection data, and provide, to the robot, results of the pre-touch proximity detection, the grasp positioning, and the contact detection.