Deformable Tactile Sensors for Robot Location in Confined Spaces
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots lack the ability to determine their location within a space accurately due to limited tactile sensitivity, often relying on GPS or visual sensors which can be inaccurate in small-scale environments, and struggle to identify objects through contact, leading to potential damage or dropping of objects.
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 compare the deformation data to a database of known objects to identify the object and determine its location based on the object's geometry and pose.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS sensors or visual sensors are used to determine robot location, then location determination capability is provided, but accuracy deteriorates in small-scale environments
Solution Approach 1:
The patent changes the sensing modality from remote sensing (GPS, visual) to tactile sensing. The deformable membrane sensor detects physical contact parameters (deformation, pressure, contact point) to determine location, which works accurately in small-scale environments where GPS and visual sensors fail. This parameter change from electromagnetic/optical fields to mechanical deformation enables accurate location determination in confined spaces.
Solution Approach 2:
The patent replaces electronic sensing systems (GPS, visual sensors) with a mechanical tactile sensing system. The deformable membrane with embedded sensors provides mechanical contact-based location determination, substituting the electronic field-based sensing that fails in small-scale environments. This mechanical substitution enables accurate object contact detection and location determination.
2Loss of information
If traditional pressure sensors are used in end effectors, then contact detection is provided, but object identification capability deteriorates
Solution Approach 1:
The patent segments the sensing function into multiple independent sensor elements distributed across the deformable membrane. Each sensor element detects local deformation, and the collective data provides comprehensive object information including geometry, contact point, and material properties. This segmentation enables both detailed object identification and safe manipulation through distributed tactile feedback.
Solution Approach 2:
The deformable membrane sensor system performs multiple functions simultaneously: it detects contact presence, measures contact force, identifies object geometry, determines material properties, and locates contact points. This multi-functionality replaces the need for separate sensors and enables comprehensive object identification while ensuring safe manipulation through rich tactile information.
3Measurement precision
If deformable sensors are implemented, then tactile sensitivity and object identification are improved, but device complexity increases
Solution Approach 1:
The patent uses a flexible deformable membrane as the sensing substrate, which naturally conforms to object surfaces and provides distributed sensor elements. The thin film structure enables high tactile sensitivity across the contact area while maintaining flexibility and adaptability. This flexible shell approach achieves high measurement precision without requiring complex rigid sensor assemblies.
Solution Approach 2:
The patent merges multiple sensing functions (contact detection, force measurement, geometry identification, material property detection) into a single integrated deformable membrane sensor system. By combining these functions in one unified structure rather than using separate sensors, the system achieves high tactile sensitivity while managing complexity through functional integration.
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 through tactile means, reducing the risk of damage and improving navigation in complex environments by providing a sense of touch similar to humans, enhancing their ability to map and interact with their surroundings.
Implementation Method 1
a deformable sensor including an internal sensor and a deformable membrane. The internal sensor is configured to output a deformation region within the deformable membrane as a result of contact with an object
Data Source
Figure 1
Figure 2
Figure 3
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.