Distributed Capacitive Electrode Sensing for Deformable Shape Reconstruction
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Solution Overview
Problem
Existing proprioception systems for deformable objects, such as robots, lack the ability to accurately and efficiently sense shape, deformation, and force information, limiting their dexterous operations.
Innovation Solution
A sensing device with distributed electrodes on a deformable object that generates capacitance signals based on electrode distance, shape, orientation, and material properties, processed to determine shape, deformation, and force information using machine learning models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensing device with distributed electrodes is used on a deformable object, then shape and deformation information can be determined, but the device complexity increases
Solution Approach 1:
The sensing device is segmented into multiple distributed electrodes across the deformable object surface. Each electrode or electrode pairing independently contributes to the overall shape and deformation measurement, allowing the complex sensing task to be divided into simpler local measurements that can be processed individually and combined to achieve high-definition reconstruction
Solution Approach 2:
The electrode array serves multiple functions: it can determine shape information, deformation information, force information, and velocity field information. The same hardware infrastructure (distributed electrodes) is used for various types of measurements, reducing the need for separate sensing systems and thereby managing device complexity while maintaining measurement precision
2Measurement precision
If multiple electrode pairings are used to generate capacitance signals, then measurement accuracy improves, but the quantity of data to be processed increases
Solution Approach 1:
The system extracts only the necessary capacitance signal information from the electrode pairings that is relevant to shape and deformation determination. By focusing on extracting specific useful information rather than processing all possible data from multiple pairings, the data processing burden is reduced while maintaining measurement accuracy
Solution Approach 2:
The capacitance signals from multiple electrode pairings provide redundant information about the same physical state. By using multiple measurements of the same underlying physical quantity, the system can achieve higher measurement accuracy through signal processing techniques that filter noise and extract the true state, while the redundant data can be processed efficiently using established algorithms
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 high-definition shape reconstruction and accurate determination of deformations and forces, allowing deformable objects to precisely perceive their kinematic states, enhancing their operational capabilities.
Implementation Method 1
The generated signal output may comprise capacitance signal output
Implementation Method 2
The at least one property may comprise permittivity and/or conductivity of material
Data Source
AI summary
A sensing device comprising: a plurality of electrodes configured to be distributed about one or more surfaces of a deformable object, wherein the plurality of electrodes are operable to generate capacitance signal output from a plurality of selected pairings of the plurality of electrodes, wherein the plurality of electrodes are distributed about the one or more surfaces of a deformable object such that the plurality of selected pairings comprise at least one proximate pairing and at least one non-proximate pairing, wherein the generated capacitance signal output for a pairing of electrodes is dependent on at least one of: a distance between the electrodes; shape and/or orientation of the electrodes and at least one property of the material between the pairing.