Robotic Gripper Tactile Sensing With External Event Camera Optics
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Solution Overview
Problem
Existing robotic grippers face challenges in safely integrating vision-based tactile sensing due to camera placement issues that restrict movement, affect performance, and increase complexity and cost, while soft grippers lack effective proprioceptive and exteroceptive perception capabilities, limiting their application in unstructured environments and precise machining tasks.
Innovation Solution
A robotic finger design incorporating a neuromorphic event-based camera within the optical channel of the gripper, allowing safe and efficient tactile sensing with integrated optic mirrors, enabling proprioceptive and exteroceptive information acquisition, and reducing the need for multiple sensory systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera is placed within the gripper's fingers to capture tactile activity, then tactile sensing capability is improved, but the camera wiring and structure restrict the movement of the gripper
Solution Approach 1:
The camera is extracted from the interior of the gripper fingers and relocated to the exterior mounting structure. This allows the camera to capture tactile activity at the fingertips through strategic positioning without being physically integrated into the moving finger components, thereby eliminating wiring restrictions on gripper movement while maintaining tactile sensing capability
Solution Approach 2:
A mounting structure serves as an intermediary between the camera and the gripper system. This intermediate platform positions the camera optimally for capturing fingertip tactile activity while isolating it from the mechanical constraints of the gripper's internal structure, allowing free movement of the gripper fingers without compromising camera functionality
2Measurement precision
If the camera is placed within the gripper's fingers, then visual activity at fingertips is captured clearly, but the gripper operation affects camera performance due to vibration
Solution Approach 1:
The camera is extracted from the vibration-prone interior of the gripper fingers and mounted externally on a stable structure. This physical separation removes the camera from the source of vibration generated during gripper operation, preventing performance degradation while maintaining clear visual capture of fingertip tactile activity through optimized mounting position
Solution Approach 2:
The mounting structure is designed to provide vibration isolation and damping before vibrations can affect the camera. By positioning the camera on a stable external structure rather than within the moving gripper components, the system proactively protects the camera from vibration-induced performance issues before they occur
3Measurement precision
If the camera is placed within the gripper's fingers, then tactile sensing is enhanced, but the camera can be damaged by the gripper's movement
Solution Approach 1:
The camera is extracted from the hazardous environment within the gripper fingers where it could be damaged by collision or excessive force. By mounting the camera externally on a stable structure positioned to observe fingertip activity from a safe distance, the system eliminates the risk of camera damage while preserving tactile sensing capability through visual capture
Solution Approach 2:
The mounting structure acts as a protective intermediary that positions the camera in a safe location away from direct contact with objects. This intermediate positioning allows the camera to observe tactile activity at the fingertips without being exposed to the harmful forces and collisions that occur during gripper operation
4Adaptability or versatility
If multiple sensory systems are integrated into the gripper, then perception capability is improved, but device complexity and cost increase
Solution Approach 1:
The camera serves multiple functions simultaneously: it captures visual activity at the fingertips for tactile sensing, provides overall visual context for the gripper's environment, and enables both proprioceptive and exteroceptive perception. This multi-functionality consolidates what would otherwise require multiple separate sensory systems into a single versatile device, reducing overall system complexity and cost
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 grasping precision and adaptability in unstructured environments by providing real-time tactile feedback with low latency and low power consumption, reducing development costs and complexity, and improving robotic machining reliability.
Implementation Method 1
event-based cameras detect transient changes in dynamic scenes in terms of brightness intensity
Implementation Method 2
The optic mirror system can include a camera base, a lens that can bring light to a fixed focal point, and three mirrors
Data Source
AI summary
A robotic manipulator includes one or multiple end effectors that can engage with an object, and one or multiple cameras that simultaneously observe each end effector, and the surrounding environment. For example, an end effector can include a contact surface including tactile markers which can deform when the end effector contacts the object.