Deformable Tactile Sensor With Stereo Depth and IR Contact Localization

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

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 to detect the underside of the deformable membrane, providing depth information, and an infrared sensor to view the object through the membrane, allowing for precise localization of the contact patch region and depth information.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a deformable membrane is used to detect contact, then the sensor can detect the presence of an object, but the deformation and wrinkles in the material make it difficult to precisely locate the contact patch region

Engineering Contradiction:

Improvecontact detection capabilityVSAvoidcontact patch localization accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent introduces an infrared-transparent window as an intermediary layer between the deformable membrane and the infrared sensor. This window allows infrared radiation from the object to pass through to the sensor while maintaining the structural integrity and deformability of the membrane, enabling precise contact patch localization without being affected by membrane wrinkles or deformation patterns

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces mechanical contact-based detection with optical detection using infrared sensors. Instead of relying on mechanical deformation patterns to locate contact points, the system uses infrared radiation detection to precisely identify the contact patch region, eliminating the limitations imposed by material deformation and wrinkles

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Device complexity

If only a single sensor type is used, then the device complexity is reduced, but the ability to provide both contact location and depth information is compromised

Engineering Contradiction:

Improvesensor system structureVSAvoiddepth information accuracy

Core Design Contradiction:

Device complexityVSLoss of information

Solution Approach 1:

The patent merges two different sensing modalities into a single integrated system: a deformable membrane for contact detection and an infrared sensor for contact patch localization and depth measurement. By combining these sensors within the same housing and coordinating their data, the system achieves both simple structure and comprehensive information capture

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The deformable membrane serves multiple functions: it acts as both the contact detection element and the infrared-transparent window for the infrared sensor. This multi-functionality reduces the need for separate components while maintaining both contact detection capability and depth measurement accuracy

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 robots to grasp and manipulate objects with precision, especially fragile ones, by fusing data from both sensors to provide precise localization.

Implementation Method 1

the deformable membrane is transparent to a wavelength band in the infrared spectrum

Methodology Applied

Scientific EffectInfrared transmission: Infrared Radiation

Implementation Method 2

a stereo depth sensor that is disposed within the enclosure and is configured to view an underside of the deformable membrane

Methodology Applied

Scientific EffectStereo depth sensing: Parallax

Data Source

PatentUS12498272B2Deformable sensors having an internal stereo depth sensor and an infrared sensor

Publication Date: 2025.12.16 TOYOTA JIDOSHA KK

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.