Robot Gripper Fingers With Mirror Vision for Dexterous Manipulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing gripper assemblies for robots lack advanced sensor applications for collecting data to develop protocols for dexterous manipulation tasks.
Innovation Solution
A gripper assembly with fingers equipped with a mirror panel, windows, and a camera that captures reflected and peripheral views of the gripper pad, along with a microphone for vibration detection, to provide comprehensive data for training and operating robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple sensors (cameras, microphones) are integrated into the gripper assembly for advanced data collection, then the capability for dexterous manipulation is improved, but the device complexity increases
Solution Approach 1:
The patent combines multiple sensing functions (visual capture, audio capture, tactile sensing) into a single integrated gripper assembly structure. The camera, microphone, and tactile sensors are merged within the finger components, allowing multifunctional data collection without requiring separate external devices for each sensing modality.
Solution Approach 2:
The gripper assembly is designed with multi-functional components that serve multiple purposes. The finger structure simultaneously provides mechanical grasping, houses optical sensors for visual data, contains microphones for audio capture, and integrates tactile sensors for contact sensing, making each component universally functional across different sensing modalities.
2Quantity of substance
If a single camera captures multiple views through mirror panels and windows, then the hardware cost is reduced, but the manufacturing precision requirements increase
Solution Approach 1:
The patent uses mirror panels positioned at specific angles (e.g., 45 degrees) to redirect light paths, effectively adding optical dimensions to the camera's field of view. This allows a single camera to capture images from multiple spatial perspectives by reflecting light from different directions onto the camera sensor plane.
Solution Approach 2:
Mirror panels and transparent windows act as optical intermediaries between the external environment and the camera sensor. These intermediary elements redirect and transmit light to enable the camera to indirectly observe surfaces that would otherwise be inaccessible from the camera's direct line of sight.
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
Enhances data collection for robot operation, enabling dexterous manipulation with reduced hardware costs by integrating a single camera to capture multiple views and tactile information.
Implementation Method 1
a mirror panel facing the gripper pad. The finger includes a camera oriented to collect image data that includes a reflected view of gripper pad from the mirror
Data Source
AI summary
Disclosed herein are fingers for gripper assemblies. The finger includes a gripper pad. The finger includes a mirror panel facing the gripper pad. The finger includes a first window extending between the gripper pad and the mirror panel. The finger includes a camera oriented to collect image data that includes a reflected view of gripper pad from the mirror and a view through the first window.