Visual-Tactile Sensing Device for Robotic Gripper Precision
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic grippers lack effective tactile sensing capabilities, particularly in determining the proximity and deformation of work pieces, which limits their precision and versatility in manipulation tasks.
Innovation Solution
A visual-tactile sensing device with a deformable contact pad that uses a camera and lighting system to image deformation, allowing for both tactile and visual feedback, utilizing reflective and transmissive light properties to differentiate between surface and subsurface information, and incorporating mechanisms like wavelength filtering and fluorescence to enhance sensing capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional tactile sensors are used in robotic grippers, then tactile information can be obtained, but the precision in determining proximity and deformation is insufficient
Solution Approach 1:
The patent combines visual sensing (camera) and tactile sensing (deformable contact pad) into a single integrated device. The camera captures images of the contact pad surface while the pad deforms under contact forces, providing both visual and tactile information simultaneously. This merging resolves the contradiction by enabling precise measurement of both proximity and deformation through the combined visual-tactile feedback mechanism.
Solution Approach 2:
The patent utilizes changes in light reflection and transmission properties of the deformable contact pad as it deforms. The contact pad's optical properties change with deformation, allowing the camera to detect subtle surface changes and infer contact forces and proximity. This approach enhances measurement precision by converting mechanical deformation into optical signals that can be captured and analyzed.
2Adaptability or versatility
If a deformable contact pad with camera integration is used, then visual-tactile feedback is achieved, but the device complexity increases
Solution Approach 1:
The deformable contact pad serves multiple functions simultaneously: it acts as a tactile sensor for force detection, a visual target for the camera to capture deformation patterns, and a mechanical interface for object contact. This multi-functionality increases adaptability while managing complexity by consolidating multiple sensing roles into a single component rather than requiring separate sensors for each function.
Solution Approach 2:
The patent uses the camera to create an optical copy or image of the contact pad's deformation state. Instead of directly measuring complex mechanical deformation with multiple sensors, the system captures a visual representation of the deformation pattern, which can then be analyzed to extract tactile information. This copying approach simplifies the overall system by replacing complex direct measurement mechanisms with optical imaging.
3Measurement precision
If wavelength filtering and fluorescence mechanisms are incorporated, then sensing precision is enhanced, but manufacturing complexity increases
Solution Approach 1:
The patent incorporates materials with specific optical parameters such as wavelength filtering properties and fluorescence characteristics into the contact pad. These parameter changes enhance the precision of contour estimation by providing distinct optical signatures that the camera can detect and analyze. The filtering and fluorescence mechanisms convert subtle deformation patterns into more pronounced optical signals, improving measurement accuracy despite the added manufacturing complexity.
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 precise tactile sensing and contour estimation of work pieces, improving robotic manipulation and metrology by providing enhanced tactile and visual feedback, allowing for more accurate and versatile robotic operations.
Implementation Method 1
utilizing reflective and transmissive light properties to differentiate between surface and subsurface information
Implementation Method 2
utilizing reflective and transmissive light properties to differentiate between surface and subsurface information
Implementation Method 3
incorporating mechanisms like wavelength filtering and fluorescence to enhance sensing capabilities
Implementation Method 4
incorporating mechanisms like wavelength filtering and fluorescence to enhance sensing capabilities
Data Source
AI summary
A robotic gripper includes a number of fingers useful to grasp a work piece. Each finger can include a visual-tactile contact pad useful to provide contact information related to the work piece when it is grasped by the fingers. The hand and fingers of the robotic gripper can include one or more optical elements such as mirrors/lenses/etc which aid in transmitting optical information from the pad to a camera. A single image sensor can be used to capture the optical data originating from the different pads. The different pads can be configured to project unique wavelengths to permit simultaneous imaging by the single image sensor. The optical paths can be configured to image on different portions of the image sensor to permit simultaneous imaging. In still other forms a shutter or similar device can be used to alternate projection of image data onto the image sensor from the different pads.