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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：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：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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