Deformable Sensor Membrane with Stereo Depth and IR Contact Sensing
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Solution Overview
Problem
Existing deformable sensors struggle to precisely locate the contact patch region due to deformation and wrinkles in the material, making it difficult to accurately determine the contact location and depth of an object.
Innovation Solution
A deformable sensor system incorporating a stereo depth sensor and an infrared sensor, where the deformable membrane is transparent to the infrared spectrum, allowing the stereo depth sensor to detect deformation underneath and the infrared sensor to detect the object through the membrane, with data fusion to pinpoint the contact patch region and provide depth information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a deformable membrane is used to detect contact, then contact detection capability is improved, but measurement precision of contact patch location deteriorates due to material deformation and wrinkles
Solution Approach 1:
The patent introduces an infrared-transparent membrane as an intermediary between the object and the sensors. This membrane allows infrared radiation to pass through while maintaining deformability for contact detection. The stereo depth sensor then measures the deformation of this intermediary membrane to infer contact patch location, resolving the contradiction between maintaining membrane deformability and achieving precise location measurement.
Solution Approach 2:
The patent replaces direct mechanical contact sensing with optical sensing. Instead of using mechanical sensors that would be affected by membrane wrinkles and deformation, the system uses a stereo depth sensor to optically measure membrane deformation. This substitution of mechanical sensing with optical measurement eliminates the measurement precision problems caused by material deformation.
2Reliability
If the membrane is made transparent to infrared spectrum, then infrared sensing capability is improved, but structural integrity and durability may deteriorate
Solution Approach 1:
The patent employs a composite membrane structure that combines infrared transparency with mechanical strength. The membrane is made of a material or combination of materials that allow infrared radiation to pass through while maintaining sufficient structural integrity and durability for repeated deformation cycles. This composite approach resolves the contradiction between optical transparency and mechanical strength.
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
The system accurately determines the contact patch region and depth of an object, enabling precise geometry and pose estimation, enhancing the robot's ability to grasp and manipulate objects without causing damage.
Implementation Method 1
the deformable membrane is transparent to a wavelength band in the infrared spectrum
Implementation Method 2
a stereo depth sensor that is disposed within the enclosure and is configured to view an underside of the deformable membrane, and output a deformation region of the deformable membrane as a result of contact with an object, wherein the deformation region includes depth information
Data Source
AI summary
Deformable sensors having a stereo depth sensor and an infrared sensor and methods of their use are disclosed. In one embodiment, a deformable sensor includes an enclosure having a housing and a deformable membrane, wherein the deformable membrane is transparent to a wavelength band in the infrared spectrum, a stereo depth sensor that is disposed within the enclosure and is configured to view an underside of the deformable membrane, and output a deformation region of the deformable membrane as a result of contact with an object, wherein the deformation region includes depth information, and an infrared sensor that is disposed within the enclosure and is configured to view the object through the deformable membrane when the object contacts the deformable membrane and output a contact patch region corresponding with a region of the deformable membrane that contacts the object.