Deformable Sensor Calibration via Imaging Contour Analysis
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Solution Overview
Problem
Current contact sensors in robots lack the ability to provide varying levels of touch sensitivity, limiting their interaction with objects and inability to accurately detect the shape and size of deformable objects.
Innovation Solution
A system and method for calibrating deformable sensors using an imaging sensor to adjust the volume of a medium within the sensor's enclosure, ensuring the deformable membrane maintains a predetermined shape and size, allowing precise object detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional contact sensors are used in robots, then the robot can detect contact with objects, but the sensor provides limited information about the object's shape and size and cannot provide varying levels of touch sensitivity
Solution Approach 1:
The patent introduces an imaging sensor as an intermediary device that captures visual information about the deformable membrane's shape and contour. This imaging sensor mediates between the deformable membrane and the control system, providing rich visual data that reveals object shape and size information without requiring complex direct measurement mechanisms.
Solution Approach 2:
The patent replaces traditional mechanical contact sensors with a deformable membrane system coupled to an imaging sensor. Instead of using mechanical pressure sensors that provide limited information, the system uses the visual field captured by the imaging sensor to infer contact characteristics, substituting mechanical measurement with optical observation.
2Measurement precision
If the deformable membrane's shape and size are not calibrated, then the sensor structure remains simple, but the sensor cannot accurately detect the shape and size of deformable objects
Solution Approach 1:
The patent implements preliminary calibration before actual object detection. The deformable membrane is inflated to predetermined shapes and sizes using calibration objects, and the imaging sensor captures images of these known configurations. This preliminary action establishes reference data that enables accurate measurement of unknown objects during normal operation.
Solution Approach 2:
The patent uses calibration objects that create known visual patterns or contours on the deformable membrane. These calibration objects serve as copies or references that allow the system to compare actual object measurements against known standards, enabling precise detection without complex real-time calibration during object interaction.
3Ease of operation
If the deformable sensor is not calibrated to a predetermined shape and size, then the system operation remains simple, but the robot cannot interact with objects accurately
Solution Approach 1:
The system performs self-calibration using the deformable membrane itself as the sensing element. The membrane is inflated to predetermined shapes using the robot's own actuators, and the imaging sensor (also part of the robot) captures these configurations. This self-service approach eliminates the need for external calibration equipment while enabling accurate object interaction.
Solution Approach 2:
The deformable membrane serves multiple functions: it acts as both the contact sensor and the object being calibrated. The same membrane that detects object contact also serves as the calibration target for determining the sensor's own shape and size. This multi-functionality simplifies the overall system by eliminating separate calibration components.
Data Source
AI summary
A system for calibrating a deformable sensor is provided. The system includes a deformable sensor including a housing, a deformable membrane coupled to an upper portion of the housing, and an enclosure defined by the housing and the deformable member; an imaging sensor configured to capture an image of the deformable membrane of the deformable sensor; and a controller. The enclosure is configured to be filled with a medium. The controller is configured to: receive the image of the deformable membrane of the deformable sensor; determine whether a contour of the deformable membrane in the image of the deformable membrane of the deformable sensor corresponds to a predetermined contour; and adjust a volume of the medium in the enclosure of the deformable sensor in response to the determination that the contour of the deformable membrane is different from the predetermined contour.