Deformable sensors and methods using magnetic repulsion for modifying run-time membrane stiffness

Patent metadata

Field	Value
Publication number	US-11920992-B2
Application number	US-202117380237-A
Country	US
Kind code	B2
Filing date	Jul 20, 2021
Priority date	Jul 20, 2021
Publication date	Mar 5, 2024
Grant date	Mar 5, 2024

Abstract

Deformable sensors and methods for magnetically modifying membrane stiffness are provided. A deformable sensor may include a membrane coupled to a housing to form a sensor cavity. The deformable sensor may further include a first magnet located on an inner surface of the membrane in the sensor cavity. The deformable sensor may additionally include a magnetic object located at a base within the sensor cavity. The magnetic object may be configured to modifiably repel the first magnet and modify stiffness of the deformable sensor based upon the modified repulsion.

First claim

What is claimed is:

1. A deformable sensor comprising:
a membrane coupled to a housing to form a sensor cavity;
a first magnet located on an inner surface of the membrane in the sensor cavity;
a second magnet, located at a base within the sensor cavity, configured to modifiably repel the first magnet and modify stiffness of the deformable sensor and
a base member located between the base of the sensor cavity and the second magnet.

2. The deformable sensor of claim 1 , wherein the base member is configured to elongate or contract to modify proximity of the second magnet to the first magnet.

3. The deformable sensor of claim 2 , further comprising a positional sensor configured to measure a position of the second magnet relative to the first magnet.

4. The deformable sensor of claim 2 , wherein the base member is configured to receive input from outside the deformable sensor to control positioning of the second magnet relative to the first magnet.

5. The deformable sensor of claim 2 , further comprising a floor sensor configured to:
observe deformation of the membrane;
observe distance between the first magnet and the second magnet; and
control raising or lowering of the second magnet based upon the deformation of the membrane and the distance between the first magnet and the second magnet.

6. The deformable sensor of claim 1 , further comprising a plurality of first magnets located on the inner surface of the membrane.

7. A method of magnetically modifying stiffness of a deformable sensor comprising:
modifying, within a sensor cavity formed by a membrane coupled to a housing, repulsion between:
a first magnet located on an inner surface of the membrane in the sensor cavity; and
an electrified coil having a magnetic field with a polarity that repels the first magnet, located at a base within the sensor cavity; and

modifying stiffness of the deformable sensor based upon the modified repulsion.

8. The method of claim 7 , further comprising:
modifying intensity of an electric current that generates the magnetic field of the electrified coil; and
modifying repulsion intensity based upon modification of the electric current.

9. The method of claim 8 , further comprising:
receiving input from outside the deformable sensor to modify the electric current intensity of the electrified coil; and
modifying the repulsion based upon the received input.

10. The deformable sensor of claim 7 , wherein the deformable sensor further comprises a plurality of first magnets located on the inner surface of the membrane.

11. A deformable sensor comprising:
a membrane coupled to a housing to form a sensor cavity;
a first magnet located on an inner surface of the membrane in the sensor cavity; and
a magnetic object, located at a base within the sensor cavity, configured to modifiably repel the first magnet and modify stiffness of the deformable sensor, wherein the magnetic object is an electrified coil having a magnetic field with a polarity configured to repel the first magnet.

12. The deformable sensor of claim 11 , wherein the electrified coil is configured to modify intensity of the repulsion based upon modification of intensity of an electric current that generates the magnetic field of the electrified coil.

13. The deformable sensor of claim 12 , wherein the electrified coil is further configured to receive input from outside the deformable sensor to modify the intensity of the electric current of the electrified coil to modify the repulsion.

14. The deformable sensor of claim 11 , further comprising a plurality of first magnets located on the inner surface of the membrane.

Assignees

• Toyota Res Inst Inc

Inventors

• Kuehner Manuel L
• Kuppuswamy Naveen Suresh

Classifications

• G01L1/12 Primary

  by measuring variations in the magnetic properties of materials resulting from the application of stress · CPC title

• B25J13/082

  Grasping-force detectors (in general G01L5/16, G01L5/22) · CPC title

• B25J13/084

  Tactile sensors (in general G01L5/16, G01L5/22) · CPC title

• G01L5/0061

  Force sensors associated with industrial machines or actuators (for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21) · CPC title