Deformable Sensor Stiffness Control via Rotational Element
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Solution Overview
Problem
Robots lack the ability to adaptively modify their contact force with objects in real-time, leading to potential damage of fragile objects or failure to grasp them properly due to limited touch sensitivity and stiffness variability in existing contact sensors.
Innovation Solution
A deformable sensor system comprising a membrane coupled to a housing with a rotational element that can adjust its vertical position and rotation, allowing for real-time modification of stiffness by establishing or withdrawing contact with the membrane, thereby adapting to objects of varying fragility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot uses a contact sensor with fixed stiffness, then the sensor structure is simple, but the robot cannot adapt to objects of varying fragility
Solution Approach 1:
The patent implements a rotational element that can change its position and orientation dynamically to modify the stiffness of the contact sensor. This dynamic adjustment mechanism allows the sensor to adapt to different object fragilities by varying the degree of membrane deformation resistance, directly resolving the contradiction between adaptability and structural simplicity.
Solution Approach 2:
The patent changes the physical parameter of stiffness by adjusting the contact between the rotational element and the membrane. By varying the rotational element's position and angle, the system modifies the mechanical properties of the sensor without changing its fundamental structure, enabling adaptation to different fragility levels while maintaining a relatively simple design.
2Measurement precision
If a contact sensor has high touch sensitivity, then the sensor can detect subtle contacts, but the sensor may be too soft to grasp firm objects properly
Solution Approach 1:
The rotational element provides dynamic control over the membrane's effective stiffness. When high touch sensitivity is needed, the rotational element positions itself to allow greater membrane deformation. When grasping firm objects requiring more strength, the rotational element adjusts to increase resistance to deformation, thus resolving the contradiction between sensitivity and grasping strength.
3Strength
If the rotational element contacts the membrane to increase stiffness, then the sensor can handle firmer objects, but the structure becomes more complex
Solution Approach 1:
The rotational element serves multiple functions: it acts as a stiffness modifier, a positional reference, and a mechanical support structure. This multi-functionality reduces the need for additional separate components, thereby increasing grasping strength while minimizing the increase in overall structural complexity.
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 detect object geometry and pose while adjusting contact force dynamically, enhancing their ability to handle objects of different rigidity and fragility by modifying stiffness in real-time, reducing the risk of damage and improving grasping accuracy.
Implementation Method 1
The rotational element may be configured to establish and withdraw contact with respect to the membrane to modify stiffness of the membrane
Data Source
AI summary
Deformable sensors and methods for modifying membrane stiffness are provided. A deformable sensor may include a membrane coupled to a housing to form a sensor cavity. The deformable sensor may further include a rotational element having an adjustable vertical position and a modifiable rotation. The rotational element may be supported at a base of the sensor cavity. The rotational element may be configured to establish and withdraw contact with respect to the membrane to modify stiffness of the membrane. The rotational element may further be configured to modify stiffness of the membrane by withdrawing the rotational element from the membrane.