Soft-body deformation and force sensing

Patent metadata

Field	Value
Publication number	US-9857245-B2
Application number	US-201615064872-A
Country	US
Kind code	B2
Filing date	Mar 9, 2016
Priority date	Mar 9, 2015
Publication date	Jan 2, 2018
Grant date	Jan 2, 2018

Abstract

A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an “at rest” (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.

First claim

What is claimed is:

1. A method of detecting position, comprising:
disposing a magnetic source on a deformable, resilient base adapted for response to a force, the magnetic source in communication with a moving structure for which positioning information is sought;
detecting, at a plurality of coplanar magnetic sense elements, a magnetic field from the magnetic source and indicative of displacement of the disposed magnetic source resulting from deformation of the base, the deformable base being continuous between the sense elements and the magnetic source for defining a common predetermined distance in an undeformed state;
generating, by the sense element, voltage characteristics based on the magnetic field; and
computing, based on the voltage characteristics, a position of the disposed magnetic source for extrapolating a position of the moving structure.

2. The method of claim 1 further comprising calibrating received voltage characteristics to the disposed positions of the magnetic source for generating a correlation of voltage characteristics to the position.

3. The method of claim 2 wherein the magnetic source has a rest position defined by a magnetic axis perpendicular to a sensing direction of the sense element, further comprising calibrating the disposed positions relative to the rest position, the deformable base being undeformed in the rest position.

4. The method of claim 3 further comprising:
identifying a curvature based on the deformation of the base and the moving structure on which the base is disposed;
determining a correlation between magnetic flux at the sense element and curvature of the member, the curvature defining the position of the moving structure.

5. The method of claim 3 further comprising:
identifying a curvature based on the deformation of the base and the moving structure on which the base is disposed;
determining a correlation between magnetic flux at the sense element and curvature of the member, the curvature defining the position of the moving structure.

6. The method of claim 1 wherein the computed position occurs independent of physical contact between the sense element and the magnetic source.

7. The method of claim 1 wherein the magnetic source is a neodymium magnet and the sense element is a Hall effect sensor positioned for responsiveness to a magnetic field from the neodymium magnet.

8. A method of detecting position, comprising:
disposing a plurality of magnetic sources on a deformable resilient base adapted for response to a force, the magnetic sources in communication with a moving structure for which positioning information is sought, each magnetic source having a corresponding sense element;
detecting at a sense element, a magnetic field from the magnetic source and indicative of displacement of the disposed magnetic source resulting from deformation of the base;
generating, by the sense element, voltage characteristics based on the magnetic field; and
comparing the voltage characteristics from each sense element of the plurality of sense elements;
determining, based on the voltage characteristics, a distance from each of the magnetic sources to the corresponding sense element, the distance resulting from deformation of the base in response to the force; and
computing, based on the relative distances and arrangement of each of the magnetic sources, the position of the moving structure, including computing, based on the voltage characteristics, a position of the disposed magnetic source for extrapolating a position of the moving structure.

9. The method of claim 8 further comprising an array of sense elements, the array defining an ordered arrangement of sense elements at predetermined spacing along a common plane on the deformable base, each magnetic source having an opposed sense element disposed on a parallel plane when the deformable base is in an undeformed state.

10. The method of claim 8 wherein the computed position defines an articulation of the moving structure, the articulation changing the distance between at least one of the sense elements and the corresponding magnetic source for affecting the voltage characteristics.

11. The method of claim 8 wherein the moving structure is a robotic member responsive to positioning logic for attaining the computed position further comprising providing a silicone base for housing the magnetic sources and sense elements, the silicone base compressively responsive to the robotic member for accommodating an articulation of the robotic member, the computed position indicative of the articulation of the robotic member.

12. A position sense apparatus, comprising:
a deformable, resilient base adapted for response to a force;
a magnetic source disposed on the base;
a plurality of coplanar sense elements disposed distally on the base, each of the sense elements configured for sensing a magnetic field from the magnetic source and indicative of displacement of the magnetic source resulting from deformation of the base,
a power source connected to the sense element and adapted to induce voltage characteristics based on the sensed magnetic field; and
positioning logic responsive to the induced voltage for computing, based on the voltage characteristics, a position of the disposed magnetic source, the deformable base comprising a base material selectively responsive to external forces, the magnetic source and sense elements positioned with a distance of base material therebetween, wherein the magnetic source has a rest position defined by a magnetic axis perpendicular to a sensing direction of the sense elements, the sense elements responsive to calibration of the disposed positions relative to the rest position, the deformable base being undeformed in the rest position.

13. The apparatus of claim 12 further comprising a set of calibrated voltage characteristics indicative of the disposed positions of the magnetic source for generating a correlation of voltage characteristics to the position.

14. The method of claim 12 wherein the magnetic source is a neodymium magnet and the sense element is a Hall effect sensor positioned for responsiveness to a magnetic field from the neodymium magnet.

15. The method of claim 12 wherein each of the magnetic sense elements has a corresponding magnetic source disposed on the resilient base.

16. A position sense apparatus, comprising:
a deformable, resilient base adapted for response to a force;
a plurality of magnetic sources disposed on the deformable base, each magnetic source having a corresponding sense element disposed distally on the base, the sense element configured for sensing a magnetic field from the magnetic source and indicative of displacement of the magnetic source resulting from deformation of the base;
a power source connected to the sense element and adapted to induce voltage characteristics based on the sensed magnetic field; and
positioning logic responsive to the induced voltage for computing, based on the voltage characteristics, a position of the disposed magnetic source, wherein the positioning logic is further configured to:
compare the voltage characteristics from each sense element of the plurality of sense elements;
determine, based on the voltage characteristics, a distance from each of the magnetic sources to the corresponding sense element, the distance resulting from deformation of the base in response to the force; and
compute, based on the relative distances and arrangement of each of the magnetic sources, the position of the moving structure.

17. The method of claim 16 further comprising a

Assignees

• Worcester Polytech Inst

Inventors

• Onal Cagdas D
• Ozel Selim

Classifications

• G01L5/226

  to manipulators, e.g. the force due to gripping · CPC title

• G01L1/122 Primary

  by using permanent magnets · CPC title

• B25J15/12

  with flexible finger members · CPC title

• Y10S901/46

  Sensing device · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title