Abstract: Sensors having a deformable layer and an outer cover layer and robots incorporating the same are disclosed. In one embodiment, a sensor includes an inflatable diaphragm operable to be disposed on a member, wherein the inflatable diaphragm includes a port. The sensor further includes an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.

Abstract: Embodiments of a deformable gripper are described. The deformable gripper comprises a base, a first inner membrane and a second inner membrane coupled to the base, an outer membrane attached to the base such that the outer membrane is positioned to enclose the first inner membrane and the second inner membrane, and an actuator operable to independently expand and contract the first inner membrane and the second inner membrane such that a portion of an outer surface of the outer membrane expands and contracts responsive to the expansion and contraction of at least one of the first inner membrane and the second inner membrane.

Abstract: In accordance with one embodiment of the present disclosure, a sensor system includes a sensing surface and an array of pressure sensors arranged on the sensing surface. The array of pressure sensors includes at least one pressure sensor is parallel to the sensing surface, at least one pressure sensor is angled between parallel and perpendicular to the sensing surface, and at least one pressure sensor is perpendicular to the sensing surface. The pressure sensors are micro electro mechanical system (MEMS) barometric pressure sensors.

Abstract: A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a fin gripper or other moldable robotic finger similarly formed. The robotic fingers include a mechanism that is embedded in one or both of the fingers that allows the fingers to more firmly grasp an object. Further, an actuator may move the mechanism to further grip an object and perform an action on the object.

Abstract: A gripping assembly for gripping an object is provided. The gripping assembly includes a gripping member. The gripping member includes a mounting base and a plurality of fingers. The plurality of fingers include a central finger and a plurality of adjoining fingers. The central finger is slidably coupled to the mounting base such that the central finger is movable in a lateral direction. The plurality of adjoining fingers are positioned on opposing sides of the central finger in a longitudinal direction. Each of the plurality of adjoining fingers are pivotally coupled to the mounting base and coupled to the central finger such that a movement of the central finger in the lateral direction pivots the plurality of adjoining fingers with respect to the mounting base.

Abstract: A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a gripper or other moldable robotic finger similarly formed. The robotic fingers include one or more collapsible structures on the surface of an inner pad of the two or more fingers. The collapsible structures are curved structures that support a grasped object and collapse when an object is pulled in an outward direction, the outward direction including from a base to the to the tip of the two or more fingers. A servo motor may control the movement of the fingers or the movement of the collapsible structures.

Abstract: Robots including a lifting actuator for lifting object are disclosed. In one embodiment, a robot includes a rail system extending in a system direction, a body structure coupled to the rail system, the body structure comprising an array of flexible tactile sensors, wherein each flexible tactile sensor of the array of flexible tactile sensors is operable to produce a signal determinative of a magnitude and a direction of a force applied to the flexible tactile sensor, and a lift actuator operable to move the body structure along the rail system.

Abstract: Sensor devices including force sensors and robots incorporating the same are disclosed. In one embodiment, a sensor device includes an inflatable diaphragm operable to be disposed on a member, and an array of force sensors disposed about the inflatable diaphragm, wherein the array of force sensors provides one or more signals indicative of a location of contact between an object and the inflatable diaphragm.

Abstract: A robot includes a rail system, a body structure coupled to the rail system, a first arm coupled to a first side of the body structure, one or more first arm actuators providing the first arm with multiple degrees of freedom, a second arm coupled to a second side of the body structure, one or more second arm actuators providing the second arm with multiple degrees of freedom, a lift actuator operable to move the body structure along the rail system, and a tilt structure coupled to the body structure. The first arm actuators and the second arm actuators are operable to wrap the first arm and the second arm around an object and hold the object against the body structure. The tilt structure is operable to tilt the body structure. The lift actuator is operable to move the body structure such that the object is lifted.

Abstract: Robots and sensor systems having a compliant member for maintaining the position of a sensor are disclosed. In one embodiment, a robot includes a rigid surface, one or more compliant members attached to the rigid surface, and a sensor device. The sensor device includes an inflatable diaphragm operable to be disposed around the one or more compliant members, the inflatable diaphragm having a port, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm. The one or more compliant members prevent lateral movement and rotational movement of the sensor device.

Abstract: Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly are disclosed. In one embodiment, a sensor assembly includes a compliant substrate assembly having a base layer, and a deformable layer heat-sealed to the base layer such that the base layer and the deformable layer define at least one inflatable chamber. The sensor assembly further includes a first member proximate to a first edge of the compliant substrate assembly, a second member proximate to a second edge of the compliant substrate assembly, wherein the second edge is opposite the first edge, and at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber.

Abstract: Robots for lifting objects are disclosed. In one embodiment, a robot includes a rail system, a body structure coupled to the rail system, a first arm coupled to a first side of the body structure, one or more first arm actuators providing the first arm with multiple degrees of freedom, a second arm coupled to a second side of the body structure, one or more second arm actuators providing the second arm with multiple degrees of freedom, and a lift actuator operable to move the body structure along the rail system. The one or more first arm actuators and the one or more second arm actuators are operable to wrap the first arm and the second arm around an object and hold the object against the body structure. The lift actuator is operable to move the body structure such that the object is lifted on the rail system.

Abstract: Sensors having a deformable layer and an outer cover layer and robots incorporating the same are disclosed. In one embodiment, a sensor includes an inflatable diaphragm operable to be disposed on a member, wherein the inflatable diaphragm includes a port. The sensor further includes an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.

Abstract: Pressure sensors and robots incorporating pressure sensors are disclosed. In one embodiment, a pressure sensor device includes a base layer, a deformable layer bonded to the base layer such that the base layer and the deformable layer define at least one inflatable chamber, and at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber.

Abstract: A robot end effector is contemplated. The robot end effector comprises a first deformable gripper, a second deformable gripper coupled to the first deformable gripper by a linkage, and an actuator coupled to the linkage and operable to move at least one of the first deformable gripper and the second deformable gripper to a position defining an angle between the first deformable gripper and the second deformable gripper that is greater than or equal to 130 degrees.

Abstract: In accordance with one embodiment of the present disclosure, a flexible tactile sensor includes a conductive target positioned in a first plane, a tool holder coupled to the conductive target configured to receive a tool, at least three coils forming an array within a second plane, the second plane spaced apart from the first plane, a pliable material coupling the conductive target to the at least three coils, and an electronic device electrically coupled to each of the at least three coils, the electronic device configured to induce an AC signal within each of the at least three coils and measure a change in inductance in the at least three coils in response to movement of the conductive target.

Abstract: A flexible tactile sensor includes a conductive target positioned in a first plane, at least three coils forming an array within a second plane, the second plane spaced apart from the first plane, a pliable material coupling the conductive target to the at least three coils, and an electronic device electrically coupled to each of the at least three coils, the electronic device configured to induce an AC signal within each of the at least three coils and measure a change in inductance in the at least three coils in response to movement of the conductive target.

Abstract: A deformable sensor comprises an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium, and an imaging sensor, disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane. The imaging sensor is configured to capture an image of the deformable membrane. The deformable sensor is configured to determine depth values for a plurality of points on the deformable membrane based on the image captured by the imaging sensor and a trained neural network.