Deformable Robot Sensors for Tactile Object-Based Localization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots lack the ability to determine their location within a space accurately due to limited touch sensitivity, often relying on GPS or visual sensors which can be inaccurate in small-scale environments, and struggle to identify objects without damaging them.
Innovation Solution
The implementation of deformable sensors with a deformable membrane and internal sensors that detect deformation upon contact with objects, allowing the robot to identify objects by comparing the deformation data to a database, thereby determining its location based on the identified object's location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional pressure sensors are used in end effectors, then the robot can detect contact with objects, but the sensors provide limited information and may cause damage due to lack of touch sensitivity
Solution Approach 1:
The patent employs a deformable membrane as a flexible shell that can conform to contacted objects, providing high touch sensitivity while distributing contact forces to prevent damage. The membrane's ability to deform allows the robot to sense object geometry and apply adaptive grasp forces.
Solution Approach 2:
The system changes the physical state of the sensing element from rigid to deformable, allowing the membrane to undergo elastic deformation when contacted by objects. This parameter change enables precise measurement of contact forces and object geometry while preventing damage through compliant interaction.
2Measurement precision
If GPS sensors or visual sensors are used to determine robot location, then the robot can identify its position in large spaces, but the accuracy deteriorates in small-scale environments
Solution Approach 1:
The deformable sensor serves multiple functions: it detects contact forces, measures object geometry, identifies objects through pattern recognition, and determines robot location. This multi-functionality allows the same sensor to operate effectively across different scale environments without requiring separate positioning systems.
Solution Approach 2:
The patent introduces an intermediary database that stores deformation patterns associated with known objects and their locations. The sensor data is compared against this database to infer robot position, serving as a mediator between raw sensor signals and location determination, enabling accurate positioning in small-scale environments where GPS fails.
3Loss of information
If robots use rigid end effectors with limited sensors, then the device complexity is low, but the ability to identify objects and determine location is insufficient
Solution Approach 1:
The patent replaces complex mechanical sensing systems with a deformable membrane that passively deforms in response to contact. The mechanical deformation itself encodes information about object geometry and location, eliminating the need for multiple active sensors while maximizing information extraction from a single compliant element.
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 robots to accurately determine their location and identify objects with precision, reducing the risk of damage and improving navigation in complex environments.
Implementation Method 1
a deformable sensor including an internal sensor and a deformable membrane. The internal sensor is configured to output a deformation region with the deformable membrane as a result of contact with a first object
Data Source
AI summary
Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.