SYSTEMS AND METHODS FOR TACTILE FUR SENSING
First Claim
1. A robotic sensing system, comprising:
- a first plurality of filaments or threads and positioned on a first zone or area of a surface;
a first sensor connected to the first plurality of filaments or threads, and configured to detect first sensor data corresponding to at least one of a first electrical resistance value or a first displacement of the first plurality of filaments or threads; and
a processor communicatively coupled to first sensor, and configured to determine a first contact between the first plurality of elements or threads and a first object based on the first sensor data, prior to contact of the first object with the first zone or area of the surface.
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Accused Products
Abstract
A tactile fur sensing system and a method of operating thereof allow early detection of an impending contact with an object. A plurality of filaments or threads are positioned on a zone or area of a surface of robotic device in a cost-effective manner. One or more sensors are configured to detect electrical resistance and/or displacement of the plurality of filaments or threads. A processor determines that there is contact with an object based on the detected electrical resistance and/or displacement. The detection of electrical resistance can be based on adjustable baseline values and/or adjustable threshold values. A plurality of nubs may alternatively or in addition be positioned on a surface area. Each nub has an outer cast or protection layer defining a cavity therein. At least a portion of a sensor for detecting resistance and/or displacement is positioned within the cavity of the nub.
20 Citations
20 Claims
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1. A robotic sensing system, comprising:
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a first plurality of filaments or threads and positioned on a first zone or area of a surface; a first sensor connected to the first plurality of filaments or threads, and configured to detect first sensor data corresponding to at least one of a first electrical resistance value or a first displacement of the first plurality of filaments or threads; and a processor communicatively coupled to first sensor, and configured to determine a first contact between the first plurality of elements or threads and a first object based on the first sensor data, prior to contact of the first object with the first zone or area of the surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A robotic sensing system, comprising:
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a plurality of nubs positioned on a surface area and configured to be flexible in order to be displaced upon contact, each nub including; an outer cast or protection layer defining a cavity therein, and a sensor configured to detect a displacement of the nub, with at least one part of the sensor positioned in the cavity of the outer cast or protection layer, the outer cast or protective layer configured to prevent contact between the at least one part of the sensor and an object outside the cavity; and a processor communicatively coupled to the sensor, and configured to determine a first contact between the plurality of nubs and a first object prior to contact of the first object with the first zone or area of the surface based on the detected displacement. - View Dependent Claims (15, 16, 17)
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18. A method for detecting an impending contact with an object using a plurality of filaments or threads positioned on a zone or area of a surface of a robotic device, the method comprising:
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storing, in a memory, a baseline value corresponding to at least one of a baseline resistance value or a rate or amount of change in the resistance value, when the plurality of filaments or threads are in a first position without contact with any object; detecting, using a sensor connected to the plurality of filaments or threads, a resistance value corresponding to the plurality of filaments or threads; determining, using a processor communicatively coupled to the sensor and the memory, a first contact between the plurality of filaments or threads and a first object based on the detected resistance value and the stored baseline value; resetting, using the processor, the stored baseline value when or after the plurality of filaments or threads are in a steady state position without contact with an object; and determining, using the processor, a second contact between the plurality of filaments or threads and the first object or a second object based on the detected resistance value and the reset baseline value. - View Dependent Claims (19, 20)
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Specification