Detachable Tactile Gripper With Shared Imaging for Versatile Grip Sensing
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Solution Overview
Problem
Existing tactile sensors face challenges in accommodating varying geometric and physical properties of objects to be gripped, leading to increased manufacturing costs and potential inaccuracies in image analysis due to multiple imaging units.
Innovation Solution
A tactile sensor system with a detachable gripper unit and a shared base unit containing the imaging unit, allowing interchangeable gripper units with identification elements, and a mechanism for secure attachment and image processing adaptation based on unit type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple imaging units are used to accommodate varying geometric and physical properties of objects, then the ability to grip various objects is improved, but the manufacturing cost increases
Solution Approach 1:
The tactile sensor is divided into a base unit and interchangeable gripper units. The base unit contains the imaging unit, while different gripper units with varying geometric properties can be attached as needed. This segmentation allows the system to handle various objects using a single imaging unit, reducing manufacturing costs while maintaining versatility.
Solution Approach 2:
The base unit with the imaging unit serves multiple functions by working with different gripper units. Instead of creating multiple complete tactile sensors for different objects, one universal base unit can accommodate various gripper types, reducing the need for multiple imaging units and lowering manufacturing costs.
2Measurement precision
If multiple imaging units are used to accommodate varying geometric and physical properties of objects, then image analysis accuracy is improved, but device complexity increases
Solution Approach 1:
By separating the imaging function (base unit) from the object-contacting function (gripper units), the system maintains a single imaging unit for accurate image analysis while reducing overall system complexity. The modular design simplifies calibration and data processing compared to multiple integrated imaging units.
Solution Approach 2:
Instead of using multiple physical imaging units, the system uses a single imaging unit to capture images that are then processed with different analysis methods or parameters depending on which gripper unit is attached. This virtual adaptation through software processing achieves the same effect as multiple imaging units without the associated complexity.
3Adaptability or versatility
If interchangeable gripper units with identification elements are used, then adaptability to different objects is improved, but ease of operation increases due to automatic recognition
Solution Approach 1:
The gripper units include identification elements that enable the base unit to automatically recognize and adapt to the attached gripper type. This self-identifying mechanism eliminates the need for manual configuration or programming, making the system easy to operate while maintaining high adaptability to different objects.
Solution Approach 2:
The identification elements provide feedback to the base unit about which gripper type is attached, allowing the system to automatically adjust its operation parameters. This feedback mechanism simplifies operation by eliminating manual setup while enabling versatile handling of different objects through automatic configuration.
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 gripping of various objects with reduced manufacturing costs and improved image analysis accuracy by using a common imaging unit and adaptable gripper units, ensuring precise object handling.
Implementation Method 1
a reflective portion that is disposed on the second surface of the transmissive portion and configured to reflect light from at least a partial region of the transmissive portion to guide the reflected light into an imaging angle of the imaging unit
Data Source
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AI summary
A tactile sensor S comprises a grip portion unit 10 including a gripping portion 13 that is capable of coming into contact with a target object T and that allows the target object T to be observed from a surface thereof on the opposite side to a surface that comes into contact with the target object T, and a reflective portion 15 capable of reflecting an image of the target object T observed from the surface on said opposite side, and a base unit 30 having an imaging portion C capable of imaging at least one of at least a portion of the surface on the opposite side and at least a portion of the reflecting portion, wherein the grip portion unit 10 is configured to be removable from the base unit 30.