Deformable Membrane Sensor for Object Pose and Fragile Grasping
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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 objects, especially fragile ones.
Innovation Solution
A deformable sensor system comprising a deformable membrane coupled to a housing, filled with a medium such as gas or gel, and equipped 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 robots use conventional contact sensors to detect object contact, then contact detection is achieved, but geometry and pose detection precision is insufficient
Solution Approach 1:
The sensor surface is divided into multiple discrete sensing elements or pixels distributed across the deformable membrane. Each pixel independently measures local deformation, and collectively they provide high-resolution geometry and pose information through spatial segmentation of the measurement field.
Solution Approach 2:
The system transitions from traditional point-contact sensors to a two-dimensional array of sensing pixels on a deformable membrane surface. This dimensional expansion enables simultaneous measurement of contact location, pressure distribution, and object geometry across the entire contact area, dramatically improving measurement precision.
2Measurement precision
If robots increase touch sensitivity to accurately detect object geometry, then grasping precision improves, but the risk of damaging fragile objects increases
Solution Approach 1:
The deformable membrane provides excessive sensitivity by detecting even minimal deformations, but the system uses partial action by processing only the necessary deformation data to determine geometry and pose. This selective measurement approach achieves high precision without applying excessive force that could damage fragile objects.
Solution Approach 2:
The system replaces traditional mechanical force application with optical or capacitive sensing of membrane deformation. The internal sensor detects geometric changes in the membrane caused by object contact, enabling high sensitivity measurement without the need for rigid mechanical contact that could cause damage.
3Measurement precision
If a deformable membrane with internal sensor is used to detect deformation, then geometry and pose detection accuracy improves, but device complexity increases
Solution Approach 1:
The system merges the deformable membrane structure with the sensor array into an integrated unit. The membrane itself serves as both the interaction surface with objects and the sensing medium, eliminating the need for separate actuation mechanisms and reducing overall device complexity despite the advanced measurement capabilities.
Solution Approach 2:
The deformable membrane is designed to deform passively in response to object contact, automatically generating the measurement signal. The membrane's inherent elasticity and the internal sensor's ability to detect geometric changes create a self-measuring system that requires no external actuation or complex control mechanisms.
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 determine the geometry and pose of objects, allowing for precise grasping and handling, reducing the risk of damage to fragile objects and improving human-robot interactions by providing varying 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... output a deformation region within the deformable membrane as a result of contact with the object
Implementation Method 2
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
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.