Visuo-Haptic Sensor for Robotic Manipulation
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Solution Overview
Problem
Autonomous robotic systems face challenges with separate haptic and visual sensors, leading to incoherent measurements, increased complexity and cost, and limitations in detecting transparent or deformable objects, as well as providing comprehensive information about object properties.
Innovation Solution
A visuo-haptic sensor that combines haptic and visual measurements using a deformable element measured by a camera, allowing for simultaneous acquisition of tactile and visual data, reducing the need for dedicated haptic sensors and providing coherent data for robotic applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate haptic and visual sensors are used, then measurement coverage is improved, but system complexity and cost increase
Solution Approach 1:
The patent combines haptic and visual sensing capabilities into a single integrated sensor system. A deformable element with embedded sensors simultaneously measures mechanical deformation (haptic) and optical properties (visual), eliminating the need for separate sensor subsystems and reducing system complexity while maintaining comprehensive measurement coverage
Solution Approach 2:
The integrated sensor serves multiple functions: it detects contact forces through deformation sensing, captures visual information about objects, and provides both haptic and visual data streams from a single device, replacing the need for multiple dedicated sensors
2Measurement precision
If separate haptic and visual sensors are used, then measurement coverage is improved, but measurement coherence deteriorates
Solution Approach 1:
By merging haptic and visual measurements into a single sensor, the patent ensures that both measurement modalities are inherently synchronized in time and space, eliminating coherence issues that arise from handover points between separate sensor subsystems
3Measurement precision
If dedicated haptic sensors are used, then haptic measurement accuracy is improved, but system cost increases
Solution Approach 1:
The patent employs a multi-functional sensor that performs both haptic and visual measurements, reducing the need for expensive dedicated haptic sensor arrays while maintaining accurate force and deformation measurement capabilities through the integrated sensing element
4Device complexity
If visual sensors are used alone, then system simplicity is improved, but detection capability for transparent or specular objects deteriorates
Solution Approach 1:
The patent merges visual and haptic sensing in a single device, where the deformable element provides tactile feedback that compensates for visual sensor limitations with transparent or specular objects, maintaining system simplicity while enhancing overall detection capability
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 visuo-haptic sensor enables accurate measurement of contact forces and object shape, reduces system complexity and cost, and enhances environmental modeling by integrating visual and haptic data, improving robotic interaction and manipulation capabilities.
Implementation Method 1
The contour of the top surface of the elastically deformable element changes between an uncompressed state, when no force is applied to the front surface, and a compressed state, when a force is applied to the front surface which compresses the deformable element
Implementation Method 2
The top surface of the deformable element is arranged within view of the camera... The image processor detects elastic deformation of the elastically deformable element in the captured images
Data Source
AI summary
A visuo-haptic sensor is presented which uses a deformable, passive material that is mounted in view of a camera. When objects interact with the sensor the deformable material is compressed, causing a change in the shape thereof. The change of shape is detected and evaluated by an image processor that is operatively connected to the camera. The camera may also observe the vicinity of the manipulator to measure ego-motion and motion of close-by objects. The visuo-haptic sensor may be attached to a mobile platform, a robotic manipulator or to any other machine which needs to acquire haptic information about the environment.