Haptic Pin Field Sensor for Universal Object Manipulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current haptic technologies for telerobotics are limited in fidelity and require high interpretation for meaningful sensing, and traditional end effectors struggle with objects of various shapes and characteristics, making them ineffective for universal object manipulation.
Innovation Solution
A haptic pin field system with independently extendable and retractable pins, equipped with pressure and temperature sensors, that recreates the environment for human operators to sense and manipulate objects by replicating surface geometry and material properties, allowing for universal grasping and precise manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional claw style end effectors are used for grasping objects, then the device structure is simple, but the adaptability to objects with various different and irregular shapes is poor
Solution Approach 1:
The end effector is segmented into multiple independent pins that can be individually actuated. Each pin operates independently to conform to the object's surface geometry, allowing the system to adapt to various object shapes without requiring a completely different gripper design for each object type.
Solution Approach 2:
The pin field transitions from a static rigid structure to a dynamic reconfigurable structure. The pins can extend and retract independently based on real-time sensing feedback, enabling the end effector to dynamically adapt its configuration to match the object's shape and achieve secure grasping.
2Measurement precision
If current haptic technology uses gloves or jointed-arm stylus to relay touch information, then the device structure is relatively simple, but the measurement precision and fidelity of sensing information are limited
Solution Approach 1:
The patent replaces traditional mechanical haptic interfaces (gloves, stylus) with a pin field system that directly measures physical quantities such as force, pressure, and temperature at multiple contact points. This substitution enables more precise quantitative measurement while maintaining mechanical interaction with the object.
Solution Approach 2:
The pin field acts as an intermediary between the human operator and the remote object. By distributing multiple pins across the contact surface, the system captures detailed spatial information about the object's surface properties, providing high-fidelity sensing data that mediates the remote interaction.
3Ease of operation
If traditional end effectors are used for object manipulation, then the device complexity is low, but the ease of operation for universal grasping and manipulation is poor
Solution Approach 1:
The pin field end effector is designed as a universal interface that can grasp and manipulate diverse objects regardless of their shape, size, or material properties. The same pin field structure can be used for various manipulation tasks by adjusting the extension and retraction patterns of individual pins, eliminating the need for task-specific grippers.
Solution Approach 2:
The system incorporates real-time feedback from sensors on each pin about contact forces, pressures, and temperatures. This feedback enables automatic adjustment of pin positions to optimize grasping and manipulation operations, making the system easier to operate across different object types without requiring manual recalibration.
Data Source
AI summary
A pin field, comprising a plurality of pins mounted parallel with each other in a frame. The plurality of pins are extendable and retractable from the frame for sensing an object or for manipulation of the object in a working environment wherein a distal end of each pin in the plurality of pins comprises a combination pressure and temperature sensor.