TECHNICAL FIELD

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.

BACKGROUND

One 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.

SUMMARY

In one embodiment, a deformable sensor including multiple fluidly coupled deformable members is provided. The deformable sensor comprises 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 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. The second rigidity value is based on a part of the medium dispersing from the first deformable member to the second deformable member responsive to the valve member being configured in the second orientation.

In another embodiment, a deformable sensor including multiple fluidly coupled deformable members 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 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, 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 has a first rigidity value when the valve member is configured in the first orientation and 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. The first deformable member has 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.

These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings.

