Valve based deformable sensor having rigidity adjustment capability

{
  "publication_number": "US11486744B1",
  "country": "US",
  "kind": "B1",
  "title": "Valve based deformable sensor having rigidity adjustment capability",
  "abstract": "A deformable sensor is provided. The deformable sensor includes a first deformable member defining a first cavity configured to be filled with a medium, a second deformable member defining a second cavity, a rigid component disposed between the first deformable member and the second deformable member such that the first deformable member is positioned on a first portion of the rigid component and the second deformable member is positioned on a second portion of the rigid component, the rigid component including an aperture disposed thereon, and a valve member configured to fluidly couple the first cavity of the first deformable member to the second cavity of the second deformable member via the aperture. The first deformable member has a first rigidity value when the valve member is configured in a first orientation, and a second rigidity value when the valve member is configured in the second orientation.",
  "claims": [
    "1. A deformable sensor comprising: a first deformable member defining a first cavity configured to be filled with a medium; a second deformable member defining a second cavity; a rigid component disposed between the first deformable member and the second deformable member such that the first deformable member is positioned on a first portion of the rigid component and the second deformable member is positioned on a second portion of the rigid component, the rigid component including an aperture disposed thereon; and a valve member configured to fluidly couple the first cavity of the first deformable member to the second cavity of the second deformable member via the aperture, the valve member configurable in a first orientation and a second orientation, the first deformable member having a first rigidity value when the valve member is configured in the first orientation, and the first deformable member having a second rigidity value when the valve member is configured in the second orientation, the second rigidity value is based on a part of the medium dispersing from the first cavity of the first deformable member to the second cavity of the second deformable member.",
    "2. The deformable sensor of claim 1, wherein the first orientation of the valve member corresponds to a closed operation status.",
    "3. The deformable sensor of claim 1, wherein the second orientation corresponds to an open operation status.",
    "4. The deformable sensor of claim 1, wherein the first rigidity value is higher than the second rigidity value.",
    "5. The deformable sensor of claim 1, further comprising a third deformable member that is positioned on a third portion of the rigid component and defining a third cavity.",
    "6. The deformable sensor of claim 5, wherein a volume of the first deformable member is larger than an additional volume of the third deformable member.",
    "7. The deformable sensor of claim 5, further comprising an additional valve member that is positioned in the rigid component and configured to fluidly couple the first deformable member to the second deformable member via an additional aperture disposed on the rigid component, the additional valve member is configuration in the first orientation and the second orientation.",
    "8. The deformable sensor of claim 7, wherein the first deformable member having a third rigidity value when the additional valve member is configured in the second orientation.",
    "9. The deformable sensor of claim 8, wherein the third rigidity value is based on an additional part of the medium dispersing from the first deformable member to the third deformable member responsive to the additional valve member being configured in the second orientation.",
    "10. The deformable sensor of claim 1, wherein a volume of the first deformable member is larger than an additional volume of the second deformable member.",
    "11. The deformable sensor of claim 1, wherein the medium is air.",
    "12. A deformable sensor comprising: a first deformable member defining a first cavity configured to be filled with a medium; a second deformable member defining a second cavity; a third deformable member defining a third cavity; a rigid component disposed such that the first deformable member is positioned on a first portion of the rigid component, the second deformable member is positioned on a second portion of the rigid component, and the third deformable member is positioned on a third portion of the rigid component, the rigid component including an aperture and an additional aperture disposed thereon; a valve member configured to fluidly couple the first cavity of the first deformable member to the second cavity of the second deformable member via the aperture, the valve member configurable in a first orientation and a second orientation, the first deformable member having a first rigidity value when the valve member is configured in the first orientation, the first deformable member having a second rigidity value when the valve member is configured in the second orientation, the second rigidity value is based on a part of the medium dispersing from the first deformable member to the second deformable member; and an additional valve member configured to fluidly couple the first cavity of the first deformable member to the third cavity of the third deformable member via the additional aperture, the additional valve member configurable in the first orientation and the second orientation, the first deformable member having a third rigidity value when the additional valve member is configured in the second orientation, the third rigidity value is based on an additional part of the medium dispersing from the first cavity of the first deformable member to the third cavity of the third deformable member.",
    "13. The deformable sensor of claim 12, wherein the first orientation of the valve member corresponds to a closed operation status.",
    "14. The deformable sensor of claim 12, wherein the second orientation corresponds to an open operation status.",
    "15. The deformable sensor of claim 12, wherein a volume of the first deformable member is larger than an additional volume of the third deformable member.",
    "16. The deformable sensor of claim 12, wherein a volume of the first deformable member is larger than an additional volume of the second deformable member.",
    "17. The deformable sensor of claim 12, wherein the medium is air.",
    "18. The deformable sensor of claim 12, wherein the first rigidity value is larger than the second rigidity value.",
    "19. The deformable sensor of claim 12, wherein the first rigidity value is larger than the third rigidity value.",
    "20. The deformable sensor of claim 12, wherein the medium is water."
  ],
  "description_excerpt": "The present specification relates to deformable sensors, and more specifically, to deformable sensors including multiple deformable members positioned on various portions thereon that are fluidly coupled to one another via valves.\n\nOne or more deformable sensors may be positioned on one or more portions of various devices, e.g., robots, robotic arms, etc. These sensors may be configured to detect contact with an object and enable the determination of shapes and dimensions of the object based the object contacting one or more portions of the deformable members. The rigidity of the deformable members may impact the ability of the deformable sensors to accurately determine the shape and dimensions of various objects, and as such, a system that enables engineers, designers, and others to control the rigidity of these members, in real time, may add to the versatility of and improve the object detection capability and mechanical contact establishing capability of these sensors. Accordingly, a need exists for a deformable sensor system that may be configured to adjust rigidity levels of one or more deformable members in real time.\n\nIn one embodiment, a deformable sensor including multiple fluidly coupled deformable members is provided.",
  "cpc": [
    "G01D 11/245",
    "B25J 13/084",
    "G01B 11/16",
    "G01B 5/016"
  ],
  "ipc": [
    "G01D 11/24"
  ],
  "assignees": [
    "TOYOTA RES INST INC"
  ],
  "inventors": [
    "KUEHNER MANUEL L",
    "YASUDA HIROSHI"
  ],
  "filing_date": "2021-08-20",
  "publication_date": "2022-11-01",
  "grant_date": "2022-11-01",
  "priority_date": "2021-08-20",
  "application_number": "US-202117407864-A",
  "family_id": "83809625",
  "citations": [
    "CN102106159A",
    "CN106644183A",
    "CN110987246A",
    "US10871860B1",
    "US2016187982A1",
    "US2021252721A1",
    "WO2016063163A1"
  ]
}