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公开(公告)号：US11703321B2
公开(公告)日：2023-07-18
申请号：US17071301
申请日：2020-10-15
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson , Branden Romero , Filipe Fernandes Veiga
Abstract: A retrographic sensor includes a transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. One or more light sources emit light into a side surface of the transparent structure. The light undergoes internal reflection in the transparent structure and is reflected toward a camera oriented toward the transparent structure. The at least partially reflective layer may be semi-specular in some embodiments.
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公开(公告)号：USRE45541E1
公开(公告)日：2015-06-02
申请号：US14045668
申请日：2013-10-03
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson
CPC classification number: G06K9/00 , A61B5/1172 , A61B2562/146 , G01L1/24 , G02B2027/0187 , G06F3/03547 , G06F3/042 , G06F3/0425 , G06F2203/04104 , G06K9/00006 , G06K9/00026 , G06T19/006 , H04N7/142 , H04N7/15
Abstract: A tactile sensor includes a photosensing structure, a volume of elastomer capable of transmitting an image, and a reflective skin covering the volume of elastomer. The reflective skin is illuminated through the volume of elastomer by one or more light sources, and has particles that reflect light incident on the reflective skin from within the volume of elastomer. The reflective skin is geometrically altered in response to pressure applied by an entity touching the reflective skin, the geometrical alteration causing localized changes in the surface normal of the skin and associated localized changes in the amount of light reflected from the reflective skin in the direction of the photosensing structure. The photosensing structure receives a portion of the reflected light in the form of an image, the image indicating one or more features of the entity producing the pressure.
Abstract translation: 触敏传感器包括光敏结构，能够透射图像的弹性体的体积以及覆盖弹性体体积的反射皮肤。 通过一个或多个光源通过弹性体的体积照射反射皮肤，并且具有从弹性体体积内反射入射到反射皮肤上的光的颗粒。 反射皮肤响应于由接触反射皮肤的实体施加的压力几何地改变，几何变化引起皮肤表面法线的局部变化，并且从反射皮肤反射的光的量的方向上的相关局部变化 光敏结构。 感光结构以图像的形式接收反射光的一部分，该图像表示产生压力的实体的一个或多个特征。
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公开(公告)号：US20240308067A1
公开(公告)日：2024-09-19
申请号：US18604092
申请日：2024-03-13
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson , Sandra Liu , Leonardo Zamora
CPC classification number: B25J9/1612 , B25J13/081 , B25J15/0009 , B25J15/12
Abstract: A robotic finger may include a first endoskeleton segment, a second endoskeleton segment, and a flexure connecting the first endoskeleton segment and the second endoskeleton segment, where the flexure is configured to elastically deform to allow the first endoskeleton segment to move relative to the second endoskeleton segment in a first degree of freedom. The robotic finger may include a transparent elastomeric pad disposed on the first endoskeleton segment and the second endoskeleton segment, at least one light source disposed on at least one of the first endoskeleton segment and the second endoskeleton segment, and at least one photosensitive detector disposed on at least one of the first endoskeleton segment and the second endoskeleton segment.
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公开(公告)号：US20240060837A1
公开(公告)日：2024-02-22
申请号：US18267032
申请日：2021-10-14
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson
CPC classification number: G01L1/241 , G01L5/166 , G01L5/226 , B25J19/021
Abstract: A retrographic sensor includes a transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. One or more excitation light sources emit light toward a side surface of the transparent structure. The side surface may include a fluorescent layer, where the light from the one or more excitation light sources excites fluorescent emissions from the fluorescent layer. The fluorescent emissions may illuminate the at least partially reflective layer.
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Patent Agency Ranking
公开(公告)号：US20230251149A1
公开(公告)日：2023-08-10
申请号：US17665186
申请日：2022-02-04
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson , Sandra Liu
CPC classification number: G01L1/24 , G01L5/0061
Abstract: A retrographic sensor includes a flexible transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. The flexible transparent structure may be configured to elastically deform between multiple configurations. At least one light source emits light into the transparent structure. The flexible transparent structure may include one or more markers that are illuminated by the at least one light source. The retrographic sensor may also include a photosensitive detector configured to image the flexible transparent structure and one or more markers. A processor may determine a configuration of the flexible transparent structure based at least in part on an image from the one or more markers.
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公开(公告)号：US12135254B2
公开(公告)日：2024-11-05
申请号：US17665186
申请日：2022-02-04
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson , Sandra Liu
Abstract: A retrographic sensor includes a flexible transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. The flexible transparent structure may be configured to elastically deform between multiple configurations. At least one light source emits light into the transparent structure. The flexible transparent structure may include one or more markers that are illuminated by the at least one light source. The retrographic sensor may also include a photosensitive detector configured to image the flexible transparent structure and one or more markers. A processor may determine a configuration of the flexible transparent structure based at least in part on an image from the one or more markers.
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公开(公告)号：US20240153115A1
公开(公告)日：2024-05-09
申请号：US18280940
申请日：2022-01-06
Applicant: Massachusetts Institute of Technology
Inventor： Shaoxiong Wang , Branden Romero , Yu She , Edward Adelson
IPC: G06T7/50 , G06T15/00 , G06V10/141
CPC classification number: G06T7/50 , G06T15/00 , G06V10/141
Abstract: Retrographic sensors described herein may provide smaller sensors capable of high-resolution three-dimensional reconstruction of an object in contact with the sensor. Such sensors may be used by robots for work in narrow environments, fine manipulation tasks, and other applications. To provide a smaller sensor, a reduced number of light sources may be provided in the sensor in some embodiments. For example, three light sources, two light sources, or one light source, may be used in some sensors. When fewer light sources are provided, full color gradient information may not be provided. Instead, the missing gradients in one direction or other information related to a three-dimensional object in contact with the sensor may be determined using gradients in a different direction that were provided by the real data. This may be done using a trained statistical model, such as a neural network, in some embodiments.
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公开(公告)号：US20240025039A1
公开(公告)日：2024-01-25
申请号：US18025928
申请日：2021-10-22
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson , Branden Romero , Filipe Fernandes Veiga , Shaoxiong Wang , Chen Wang
CPC classification number: B25J9/1664 , B25J9/1612 , B25J13/084 , B25J9/161 , B25J9/163 , B25J9/1653
Abstract: Physical features of an object from tactile robotic exploration, including by manipulation of the object with an effector having a tactile sensor that provides measurements representative of physical interaction of the effector and the object. This exploration may include performing a predetermined set of manipulations of the object using the effector. Measurements made during the manipulations are used to form a data representation of physical characteristics of the object, and this data representation is used to control further motion of the object.
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公开(公告)号：US20210318116A1
公开(公告)日：2021-10-14
申请号：US17071301
申请日：2020-10-15
Applicant: Massachusetts Institute of Technology
Inventor： Edward Adelson , Branden Romero , Filipe Fernandes Veiga
Abstract: A retrographic sensor includes a transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. One or more light sources emit light into a side surface of the transparent structure. The light undergoes internal reflection in the transparent structure and is reflected toward a camera oriented toward the transparent structure. The at least partially reflective layer may be semi-specular in some embodiments.
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