Adjustable High Flex Point for Deformable Sensor Contour Detection
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Solution Overview
Problem
Existing deformable sensors with fixed high flex points are inadequate for sensing irregularly shaped objects, as they cannot accurately determine the contour or safely grip such objects, potentially leading to damage or failure in manipulation tasks.
Innovation Solution
A deformable sensor system with an adjustable high flex point and electromechanical control mechanism, allowing the position of the high flex point to be changed and the tension of the deformable membrane to be modified, enabling precise detection of object geometry and pose through an internal sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the high flex point is fixed in the center of the deformable membrane, then the sensor structure is simple and reliable, but the sensor cannot accurately detect irregularly shaped objects or safely grip them
Solution Approach 1:
The patent applies the dynamics principle by making the high flex point movable rather than fixed. The contact mechanism allows the high flex point to be repositioned to different locations on the deformable membrane, enabling the sensor to adapt its sensing characteristics to match the geometry of different objects being manipulated, thereby improving detection accuracy for irregularly shaped objects.
Solution Approach 2:
The patent applies parameter changes by altering the position parameter of the high flex point on the deformable membrane. By changing this geometric parameter through the contact mechanism, the sensor can modify its deformation characteristics to better conform to and detect various object shapes, improving measurement precision without requiring multiple different sensor designs.
2Adaptability or versatility
If the high flex point position is made adjustable, then the sensor can detect irregularly shaped objects accurately, but the device complexity increases due to the contact mechanism and control system
Solution Approach 1:
The patent applies universality by designing a single deformable membrane with a movable high flex point that can serve multiple functions for different object types. The contact mechanism and electromechanical control system enable one sensor to adapt to various object geometries, replacing the need for multiple specialized sensors or manual reconfiguration, thereby improving versatility while managing complexity through a unified multi-functional design.
Solution Approach 2:
The patent applies mechanics substitution by replacing manual or mechanical adjustment methods with an electromechanical control system. The electromechanical actuator uses electrical signals to position the contact mechanism, which in turn adjusts the high flex point location. This substitution of mechanical adjustment with electro-controlled actuation simplifies the control interface and enables programmable adaptation to different object shapes.
3Reliability
If the deformable membrane tension is increased, then the sensor becomes more responsive to contact forces, but the membrane becomes less compliant and may damage soft objects
Solution Approach 1:
The patent applies dynamics by making the membrane tension adjustable rather than fixed. The tension adjustment mechanism allows the system to dynamically modify the membrane's stiffness in response to the object being manipulated. For rigid objects, higher tension improves detection reliability; for soft objects, lower tension maintains compliance and prevents damage, enabling the sensor to adapt its mechanical properties to the task requirements.
Solution Approach 2:
The patent applies parameter changes by altering the tension parameter of the deformable membrane. By changing this physical parameter through the tension adjustment mechanism, the sensor can modify its mechanical response characteristics. This allows optimization of both detection reliability and object safety by selecting appropriate tension levels based on the specific manipulation task and object properties.
Data Source
AI summary
Devices, systems, and methods for adjusting the high flex point of a deformable sensor are disclosed herein. A deformable sensor may include an enclosure comprising a housing and a deformable membrane coupled to an upper portion of the housing, where the enclosure is configured to be filled with a medium, a contact mechanism coupled to the housing and selectively adjustable such that adjusting a position of the contact mechanism causes a change in a location of a high flex point of the deformable membrane, and an internal sensor, disposed within the enclosure, having a field of view configured to be directed through the medium and toward a bottom surface of the deformable membrane, where the internal sensor is configured to output a deformation region within the deformable membrane when placed in contact an object.