Retrographic Tactile Sensor With Fluorescent Side Illumination
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Solution Overview
Problem
Conventional vision-based tactile sensors are constrained to flat or nearly flat designs due to difficulties in providing well-controlled directional lighting in non-planar geometries, leading to bulky and unsuitable packaging for smaller robotic systems.
Innovation Solution
A retrographic sensor employing one or more fluorescent layers configured to provide non-directional, diffuse illumination, replacing large arrays of light sources, diffusers, and filters with thin fluorescent layers, allowing compact form factor and photometric stereo capability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If conventional vision-based tactile sensors use large arrays of light sources, diffusers, and filters to provide controlled directional lighting, then illumination quality is improved, but device complexity and volume increase
Solution Approach 1:
The patent combines multiple optical components (light sources, diffusers, filters) into a single fluorescent layer that provides both illumination and wavelength filtering functions, thereby reducing device complexity while maintaining illumination quality
Solution Approach 2:
The fluorescent layer serves multiple functions simultaneously: it provides diffuse illumination, acts as a wavelength filter to eliminate nuisance light, and enables photometric stereo capability, replacing what would traditionally require separate components
2Illumination intensity
If conventional vision-based tactile sensors use large arrays of light sources and diffusers, then illumination control is improved, but sensor volume increases
Solution Approach 1:
The patent uses a thin fluorescent layer instead of bulky light sources and diffusers, dramatically reducing sensor volume while maintaining illumination control through the fluorescent material's optical properties
Solution Approach 2:
Multiple optical functions are merged into the thin fluorescent layer, eliminating the need for separate light sources, diffusers, and filters that would increase sensor volume
3Illumination intensity
If conventional sensors use traditional lighting arrangements, then directional lighting is achieved, but nuisance light and reflections increase
Solution Approach 1:
The patent changes the wavelength parameter by using fluorescent layers that emit at specific wavelengths and absorb others, thereby eliminating nuisance light and reflections that would interfere with sensing while maintaining necessary directional lighting
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 compact, cost-effective, and efficient tactile sensing with improved illumination and reduced nuisance light, suitable for smaller robotic systems.
Implementation Method 1
a first fluorescent layer disposed on at least a first side surface of the one or more side surfaces, wherein the first fluorescent layer is configured to emit first fluorescent light into the transparent structure
Implementation Method 2
a photosensitive detector oriented toward the interior surface of the transparent structure
Data Source
AI summary
A retrographic sensor includes a transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. One or more excitation light sources emit light toward a side surface of the transparent structure. The side surface may include a fluorescent layer, where the light from the one or more excitation light sources excites fluorescent emissions from the fluorescent layer. The fluorescent emissions may illuminate the at least partially reflective layer.