Deformable Membrane Sensor for Object Pose and Contact Force
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Solution Overview
Problem
Robots lack the ability to accurately detect the geometry and pose of objects, leading to potential damage during manipulation due to insufficient touch sensitivity, which is crucial for grasping and handling fragile items or interacting with humans.
Innovation Solution
A deformable sensor system comprising a deformable membrane within an enclosure filled with a medium, coupled with an internal sensor capable of detecting deformation, allowing for the determination of object geometry and force applied, providing a robot with a sense of touch similar to humans.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional contact sensors are used to detect contact, then contact detection is achieved, but geometry and pose detection capability is lost
Solution Approach 1:
The patent combines multiple sensing functions into a single deformable sensor system. The deformable membrane integrates contact detection, geometry detection, and pose detection capabilities by capturing deformation patterns that encode all three types of information simultaneously, eliminating the need for separate sensors.
Solution Approach 2:
The deformable membrane serves multiple functions: it detects contact presence, measures contact force through deformation magnitude, and determines object geometry and pose through deformation pattern analysis. This multi-functional approach resolves the contradiction by making a single sensor system capable of all detection tasks.
2Measurement precision
If high spatial resolution sensors are used to detect geometry, then detection precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex multi-sensor mechanical systems with a simpler deformable membrane system. Instead of using multiple rigid sensors arranged in arrays, the system uses the natural deformation behavior of a flexible membrane to encode geometric information, reducing device complexity while maintaining high measurement precision.
Solution Approach 2:
The system changes the physical state of the sensing element from rigid to deformable. By allowing the membrane to change shape in response to contact, the system extracts geometric and pose information from deformation patterns rather than requiring complex sensor arrays, thereby simplifying the overall device structure.
3Stability of the object's composition
If rigid sensors are used for contact detection, then structural stability is maintained, but touch sensitivity is reduced
Solution Approach 1:
The patent employs a deformable membrane (flexible shell) as the sensing element. This flexible structure maintains structural integrity while allowing controlled deformation upon contact, enabling the system to achieve both structural stability and high touch sensitivity through the membrane's elastic response to applied forces.
Solution Approach 2:
The system transitions from static rigid sensors to a dynamic deformable membrane that adapts its shape in response to contact. The membrane's ability to dynamically change configuration allows it to maintain structural stability at rest while providing high sensitivity during interaction, resolving the contradiction between stability and sensitivity.
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 robots to accurately grasp and manipulate objects by detecting the geometry and pose, reducing the risk of damage and improving human-robot interactions through enhanced touch sensitivity.
Implementation Method 1
a deformable membrane coupled to an upper portion of the housing, the enclosure configured to be filled with a medium... An internal sensor, disposed within the enclosure, having a field of view configured to be directed through the medium and toward a bottom surface of the deformable membrane, wherein the internal sensor is configured to output a deformation region within the deformable membrane as a result of contact with the object
Data Source
AI summary
Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.