Deformable Tactile Sensor for Object Pose and Force Detection

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Solution Overview

Problem

Current contact sensors in robots lack the ability to detect the geometry and pose of objects with the same level of sensitivity as human touch, leading to potential damage to objects due to inadequate force control during manipulation.

Innovation Solution

A deformable sensor system comprising a deformable membrane coupled to a housing, filled with a medium such as gas or gel, and equipped with an internal sensor capable of detecting deformation, allowing for the determination of object geometry and force applied, thereby providing a robot with a sense of touch.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If traditional contact sensors are used in robots, then the robot can detect contact with objects, but the robot cannot accurately detect object geometry and pose with human-level sensitivity

Engineering Contradiction:

Improveobject geometry and pose detection precisionVSAvoidforce control reliability during manipulation

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The sensor is divided into multiple independent sensing elements or pixels distributed across the membrane surface. Each pixel independently detects local deformation, enabling high-resolution mapping of object geometry and contact forces across the entire sensor surface, thereby achieving human-level tactile sensitivity

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The deformable membrane is nested within a protective housing that contains the medium and internal sensors. This nested structure allows the membrane to deform freely for accurate sensing while being protected from damage, and the housing provides structural support without interfering with the sensing function

Inventive Principle:

Principle #7Nested doll (Nesting)

2Productivity

If robots manipulate objects without accurate geometry and pose detection, then manipulation can proceed, but objects may be damaged due to inadequate force control

Engineering Contradiction:

Improvemanipulation speedVSAvoiddamage to objects during manipulation

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The sensor provides real-time feedback on object geometry, pose, and contact forces during manipulation. This feedback enables the robot's control system to continuously adjust manipulation forces to match object characteristics, preventing damage while maintaining efficient operation

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The sensor detects object geometry and pose before manipulation begins, allowing the robot to pre-calculate appropriate manipulation forces and strategies. This preliminary detection enables force control optimization before contact occurs, preventing damage from the outset

Inventive Principle:

Principle #10Preliminary action

3Measurement precision

If a deformable membrane is used to detect contact, then the sensor can detect deformation, but the internal sensor must be protected from the external environment

Engineering Contradiction:

Improvedeformation detection precisionVSAvoidenclosure structure complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

A thin, transparent membrane serves as both the sensing element and the protective enclosure wall. The membrane's transparency allows internal sensors to detect deformation through it, while its flexibility enables accurate deformation measurement. This single structure combines sensing and protection functions without requiring complex multi-layer enclosures

Inventive Principle:

Principle #30Flexible shells and thin films

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 grasp and manipulate objects by detecting the geometry and pose of objects, reducing the risk of damage and improving interaction with fragile items through precise force control.

Implementation Method 1

a deformable membrane coupled to an upper portion of the housing, the enclosure configured to be filled with a medium... output a deformation region within the deformable membrane as a result of contact with the object

Methodology Applied

Scientific EffectDeformation: Deformation

Implementation Method 2

an internal sensor, disposed within the enclosure, having a field of view configured to be directed through the medium and toward a bottom surface of the deformable membrane

Methodology Applied

Scientific EffectOptical detection:

Data Source

PatentUS11628576B2Deformable sensors and methods for detecting pose and force against an object

Publication Date: 2023.04.18 TOYOTA JIDOSHA KK

AI summary

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.