Detachable Tactile Gripper Optics for Lower-Cost Accurate Sensing
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Solution Overview
Problem
Existing tactile sensors face challenges in accommodating varying geometric and physical properties of objects to be gripped, leading to increased manufacturing costs and potential inaccuracies due to multiple imaging units in gripper units.
Innovation Solution
A tactile sensor system with a detachable gripper unit and a shared imaging unit in the base unit, allowing interchangeable gripper units with different shapes to be attached, reducing manufacturing costs and ensuring accurate image analysis by maintaining consistent imaging performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple imaging units are provided in gripper units to accommodate varying geometric and physical properties of objects, then the ability to grip various objects is improved, but manufacturing cost increases
Solution Approach 1:
The imaging unit is designed with multi-functionality to serve multiple gripper units. A single imaging unit can capture images for different gripper configurations and object types, eliminating the need for dedicated imaging units for each gripper type. This universal design maintains the ability to grip various objects while significantly reducing manufacturing costs.
Solution Approach 2:
Multiple imaging functions are merged into a single shared imaging unit. Instead of having separate imaging units for each gripper unit, the patent combines these functions into one centralized imaging unit that can serve all gripper units, thereby reducing overall system cost while maintaining versatility.
2Measurement precision
If multiple imaging units are provided in gripper units, then image analysis accuracy for specific objects is improved, but device complexity increases
Solution Approach 1:
The shared imaging unit is designed to perform multiple imaging tasks for different gripper units and object types. Through software control and image processing algorithms, the single imaging unit achieves accurate image analysis for various objects without the complexity of multiple physical imaging units.
Solution Approach 2:
The imaging function is effectively copied across multiple gripper units through software and image processing rather than through physical duplication of imaging hardware. The shared imaging unit captures images that are then processed to provide accurate analysis for different gripper configurations, avoiding the device complexity of multiple imaging units.
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
The system enables cost-effective and precise gripping of various objects by using a shared imaging unit, improving manufacturing efficiency and accuracy through standardized image processing across different gripper units.
Implementation Method 1
a reflective portion that is disposed on the second surface of the transmissive portion and configured to reflect light from at least a partial region of the transmissive portion to guide the reflected light into an imaging angle of the imaging unit
Data Source
AI summary
A tactile sensor includes a gripper unit that includes i) a gripping portion capable of contacting an object to be gripped and capable of observing the object to be gripped from a surface opposite to a contact surface, and ii) a reflective portion capable of reflecting an image of the object to be gripped observed from the opposite surface, and a base unit that includes an imaging unit capable of imaging at least one of i) at least a portion of the opposite surface or ii) at least a portion of the reflective portion, wherein the gripper unit is configured to be detachable from the base unit.