Dual-Finger Optical Gripper for Precise Contact-Based Object Grip
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Solution Overview
Problem
Existing robots lack effective methods to accurately grip objects using tactile information similar to human fingers, particularly in detecting and maintaining contact with objects using dual fingers.
Innovation Solution
A robot equipped with dual fingers, each featuring a contact part, a light emitter, a camera, and a polarization filter, controlled by a processor to capture images and adjust light emission and polarization states to identify and grip objects based on distance differences between the fingers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If dual fingers with light emitters and cameras are used to detect tactile information, then the robot's ability to grasp objects is improved, but the device complexity increases
Solution Approach 1:
The patent embeds multiple functional components (light emitter, camera, polarization filter) within the finger structure itself. The camera is positioned to capture images through the contact part, the light emitter is integrated into the finger, and polarization filters are layered within the contact part, creating a nested configuration that reduces overall system complexity while maintaining advanced sensing capabilities
Solution Approach 2:
The contact part serves multiple functions simultaneously: it acts as the gripping surface, a polarization filter, and a window for the camera. The gel layer both transmits light for imaging and provides tactile contact with the object. This multi-functionality reduces the number of separate components needed, thereby reducing device complexity while improving grasping reliability
2Measurement precision
If polarization filters are used to enhance light transmission and image quality, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent combines the polarization filter function with the contact part structure itself. The first and second contact parts incorporate polarization filters that are oriented at perpendicular angles to each other, merging the filtering function into the gripping surface. This integration reduces the number of separate optical components while maintaining precise light control for accurate distance measurement
Solution Approach 2:
Different regions of the optical system have specialized properties: the first contact part has a first polarization orientation while the second contact part has a second polarization orientation perpendicular to the first. This local differentiation optimizes light transmission and reflection characteristics for each finger's specific sensing needs, improving measurement precision without requiring a complex centralized optical system
3Measurement precision
If light emitters are used to illuminate the contact parts for image capture, then detection capability is improved, but energy consumption increases
Solution Approach 1:
The patent employs periodic illumination where the first and second light emitters are activated alternately rather than continuously. The processor controls the timing of light emission to coincide with image capture moments, and the polarization filters are activated only when needed for specific measurement conditions. This periodic operation significantly reduces energy consumption while maintaining sufficient detection accuracy
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 precise gripping of objects by maintaining a consistent distance between the fingers, enhancing the robot's ability to grasp and hold objects effectively.
Implementation Method 1
the first polarization filter is configured to pass light polarized in a first direction, from among the light radiated by the first light emitter, to the first contact part based on a voltage applied to the first polarization filter
Implementation Method 2
a first light emitter configured to radiate light toward the first contact part
Data Source
AI summary
A robot and a method of controlling same is provided, the robot including: first and second fingers, where finger comprises: a contact part; a light emitter configured to radiate light toward the contact part; a camera configured to capture an image of the respective contact part; and a polarization filter between the light emitter and the contact part, wherein the polarization filters are configured to pass light polarized in a first or second direction based on a voltage applied, and wherein the first and second directions are perpendicular to one another; a driver configured to move the first finger and the second finger; and at least one processor connected with the components of the first and second fingers and the driver, wherein the at least one processor is configured to: obtain images via the first and second cameras by controlling an activation state of at least one of the light emitters and the polarization filters, and based on identifying the presence of an object positioned between the contact parts, cause the fingers to grip the object and to maintain within a pre-set range a difference between first and second distances.