Augmented system and method for grasping objects

1 . A gripping apparatus configured to pick up, manipulate and release objects, comprising:

a housing or structural frame;

a primary grasping device comprising:

a suction assembly;

a suction compartment wall;

a membrane compartment wall;

a primary suction interface configured to grasp the object;

at least one deformable membrane having an outer edge attached to the membrane compartment wall and an inner edge attached to the suction compartment wall, forming at least a partially sealed membrane compartment;

at least one membrane compartment wall actuator adapted to displace the membrane compartment wall relative to the housing of the gripping apparatus;

at least one pressure mechanism configured to regulate pressure inside the at least partially sealed membrane compartment or at least regulate pressure of the suction assembly of the primary grasping device;

one or more guiding elements for facilitating movement of the membrane compartment wall and the suction compartment wall relative to the housing and respective to each other;

at least one secondary grasping device comprising:

at least one secondary suction interface comprising a sealing element attached to an outside of and surrounding the membrane compartment wall of the primary grasping device;

wherein the membrane compartment wall further comprises an opening to accommodate the suction compartment wall and wherein the suction assembly is configured to move within the opening;

wherein the secondary suction interface forms one large suction cup surrounding the primary grasping device;

wherein upon the at least one secondary suction interface contacting the object to be grasped, the at least one secondary suction interface delimits at least one sealing region between the secondary suction interface and the object;

wherein a shape and area of the at least one sealing region is dependent on a shape of the at least one deformable membrane;

wherein when the gripping apparatus is grasping an object, at least the primary suction interface or at least the secondary grasping device or at least the deformable membrane simultaneously creates the sealing region;

wherein the shape of the at least one deformable membrane is affected by at least the pressure inside the at least one membrane compartment.

2 . The apparatus of claim 1 , wherein the one or more guiding elements are selected from a group consisting of rolling bearing, sliding bearing, bushing, seal, hydrostatic bearing, air bearing, magnetic bearing, superconductive levitation bearing, acoustic levitation bearing, and electrostatic bearing.

3 . The apparatus of claim 1 , wherein a sealing element is configured to seal a gap between the membrane compartment wall and the suction compartment wall.

4 . The apparatus of claim 3 , wherein the one or more guiding elements are selected from a group consisting of rolling bearing, sliding bearing, bushing, seal, hydrostatic bearing, air bearing, magnetic bearing, superconductive levitation bearing, acoustic levitation bearing, and electrostatic bearing, and wherein the sealing element can be combined with at least one of the guiding elements to form a single element that serves both a guiding function and a sealing function.

5 . The apparatus of claim 1 , further comprising an actuator configured to move the suction assembly relative to the housing.

6 . The apparatus of claim 1 , wherein pressure inside the at least one membrane compartment is affected by one pressure mechanism of the at least one pressure mechanism and the-pressure of the suction assembly is affected by another pressure mechanism of the at least one pressure mechanism, wherein the two pressure mechanisms are independently controlled.

7 . The apparatus of claim 1 , wherein the apparatus facilitates the movement of the membrane compartment wall and the suction compartment wall relative to the housing and respective to each other, wherein respective to each other further comprises one item moves and the other item stays stationary or both items move.

8 . The apparatus of claim 1 , wherein the secondary grasping device further comprises at least a one venting port configured to modify one or more properties within a flange compartment, wherein the venting port is at least connected to an independent pressure mechanism, or at least in fluid communication with the pressure mechanism configured to regulate the pressure of the suction assembly of the primary grasping device, or at least connected to a valve regulating pressure flow.

9 . The apparatus of claim 8 , wherein the at least one venting port comprises a plurality of venting ports, and each venting port of the plurality of venting ports is connected to a different suction area within the flange compartment.

10 . The apparatus of claim 1 , wherein the secondary suction interface is selected from the group consisting of a flexible flange, sponge, foam, and fabric.

11 . The apparatus of claim 1 , wherein the membrane compartment wall has an opening, wherein the opening is configured to enable the suction compartment wall to slide through the membrane compartment, wherein the sealing element is configured to seal a gap between the membrane compartment wall and the suction compartment wall.

12 . The apparatus of claim 1 , wherein the shape of the deformable membrane is dependent on movement and a position of the primary suction interface relative to the membrane compartment wall, wherein grasping with the membrane is dependent on movement or engagement of the primary suction interface.

13 . The apparatus of claim 1 , wherein a vacuum of the secondary suction interface is formed from the suction assembly, and wherein operation of the secondary grasping device is dependent on a position of the primary suction interface, a pressure of the primary suction interface, a pressure of the membrane compartment, and a position and shape of the deformable membrane.

14 . The apparatus of claim 1 , wherein at least the primary suction interface, or at least the secondary suction interface, or at least the deformable membrane when grasping an object creates the sealing region.

15 . The apparatus of claim 1 , wherein different vacuum areas are formed by one selected from the group consisting of at least the secondary suction interface alone, at least between the secondary suction interface and the deformable membrane, at least the deformable membrane alone, at least between the deformable membrane and the primary suction interface, and at least the primary suction interface alone.

16 . The apparatus claim 1 , further comprising a valve that regulates flow between the membrane compartment and the suction assembly wherein the valve is closed after the apparatus forms a seal with the object.

17 . The apparatus of claim 1 , wherein the secondary grasping device further comprises at least one sensor configured to:

collect data regarding changes in properties of the secondary suction interface; or

detect at least collision with an external object, or at least a size of a colliding external object, or at least stiffness of the colliding external object, or at least texture of the colliding external object;

wherein the secondary suction interface is constructed from one member selected from a group consisting of carbon particles, graphene, graphane, graphite, silver particles, gold particles, carbon black, and carbon nanotubes.

18 . A method for grasping an object, using a gripping apparatus, the gripping apparatus comprising a primary grasping device, a suction assembly, a secondary grasping device, a primary suction interface, a secondary suction interface, and at least one deformable membrane,

the method comprising the steps of:

depressurizing a membrane compartment of the apparatus using a membrane compartment pressure mechanism to a pressure lower than the pressure in the environment;

using a suction compartment pressure mechanism to depressurize a suction compartment to a pressure equal or lower than pressure in the environment but higher than the pressure in the membrane compartment;

creating a pressure difference on two sides of the deformable membrane wherein the pressure in the membrane compartment becomes lower than a pressure of a region of space on a side of the deformable membrane that is external to the membrane compartment, whereby the pressure difference affects a shape of the deformable membrane wherein the deformable membrane is sucked into the membrane compartment and pushed against an internal wall of the membrane compartment or other components inside the membrane compartment and away from the object to be grasped;

displacing the suction compartment relative to the membrane compartment in a direction that is away from the object to be grasped, so that the secondary grasping interface becomes the closest component on the gripping apparatus to the object;

displacing the gripping apparatus towards the object until the secondary suction interface contacts the object and seals a region of space on a side of the deformable membrane that is outside the membrane compartment from a side where the sealing region of space is in fluid communication with a suction compartment pressure mechanism through a primary suction interface; and

depressurizing the sealing region of space by the suction compartment pressure mechanism, whereby a steady state is reached, the pressure inside the sealing region of space drops to become lower than the pressure in the environment but higher than or equal to than the pressure in the membrane compartment and the pressure difference between the two sides of the deformable membrane at least pushes the deformable membrane against the inner wall of the membrane compartment and keeps the deformable membrane away from the object, or at least prevents the deformable membrane from touching either the membrane compartment wall or the object, or at least keeps the deformable membrane away from the primary suction interface, or at least prevents the deformable membrane from clogging the primary suction interface;

wherein pressure in the sealing region of space, which is lower than environmental pressure, acts on the a surface of the object and is not obstructed by the deformable membrane, thereby generating a suction force on the object and causing the object to be grasped by the gripping apparatus.

19 . The apparatus of claim 18 , wherein a vacuum is formed from the suction assembly, and wherein operation of the secondary grasping device is dependent on a position of the primary suction interface, pressure of the primary suction interface, and pressure of the membrane compartment.

20 . The method of claim 18 , wherein at least the primary suction interface, or at least the secondary suction interface, or at least the deformable membrane when grasping an object creates the sealing region.

21 . The method of claim 20 , wherein when the grasping apparatus is grasping an object, at least two of the group consisting of the primary suction interface, the secondary grasping device, and the deformable membrane simultaneously operate to create the sealing region.

22 . The method of claim 18 , wherein different vacuum areas are formed by the secondary suction interface alone, between the secondary suction interface and the deformable membrane, the deformable membrane and the primary suction interface, or the primary suction interface alone.

23 . The method of claim 18 ,

wherein the primary grasping device and the secondary grasping device engage the object through application of forces generally along the a same direction;

wherein the secondary grasping device is dependent on the primary grasping device, wherein movement of the secondary grasping device is dependent on engagement or movement of the primary grasping device; wherein the dependency is provided by at least the deformable membrane which mechanically connects the secondary grasping device to the primary grasping device;

wherein the deformable membrane is an open surface where its edge is mechanically connected to the membrane compartment wall, wherein the deformable membrane has a membrane hole with a hole edge, wherein the hole edge is mechanically connected to the suction compartment wall.

24 . The method of claim 18 , wherein the other components inside the membrane compartment are selected from the group consisting of sensors, cables, actuators, valves, tubes, wires, covers, and guide mechanisms.

25 . A gripping apparatus configured to pick up, manipulate, and release objects, comprising:

a primary grasping device comprising:

a suction assembly configured to provide positive or negative air pressure;

a deformable membrane wherein a geometry of such deformable membrane changes responsive to pressure;

a compressible or incompressible fluid or particles at least partially contained by the deformable membrane;

an actuator component configured to at least provide or at least regulate pressure of the fluid, wherein the actuator is configured to actuate the deformable membrane by one of the group consisting of at least linearly, at least transversely, at least radially, at least rotationally, at least spirally, and at least normally;

at least one secondary grasping device comprising at least one secondary suction interface;

wherein the secondary grasping device is configured to surround the primary grasping device;

wherein upon the at least one secondary suction interface contacting the object to be grasped, the at least one secondary suction interface delimits at least one sealing region between the secondary suction interface and the object;

wherein when the grasping apparatus is grasping an object, at least the primary suction interface or at least the secondary grasping device or at least the deformable membrane creates the sealing region.

26 . The apparatus of claim 25 , wherein the actuator component is connected to and disposed about an outer surface of the deformable membrane.

27 . The apparatus of claim 25 , wherein an actuator is configured to actuate the secondary grasping device by one of the group consisting of at least linearly, at least transversely, at least radially, at least rotationally, at least spirally, and at least normally.

28 . The apparatus of claim 25 , wherein the deformable membrane forms or a torus or has a toroidal surface.

29 . The apparatus of claim 25 , wherein the deformable membrane has an open surface.

30 . The apparatus of claim 25 , wherein when the grasping apparatus is grasping an object, at least two of the group consisting of the primary suction interface, the secondary grasping device, and the deformable membrane simultaneously operate to create the sealing region.

31 . A gripping apparatus configured to pick up, manipulate, and release objects, comprising:

at least a rigid or flexible compartment wall;

at least one deformable membrane;

at least one actuation mechanism connected to the deformable membrane configured to at least deform or at least displace the deformable membrane by one of the group consisting of at least linearly, at least transversely, at least radially, at least rotationally, at least spirally, and at least normally;

at least a suction interface connected to a device configured to at least generate suction or at least control the positive or negative pressure of the suction interface;

wherein the suction interface is connected to the compartment wall;

wherein the deformable membrane is configured to at least be housed by, or at least be connected to, or at least to slide against to suchthe membrane compartment wall;

wherein the deformable membrane at least partially contain contains a compressible or incompressible fluid;

wherein a geometry of the deformable membrane changes responsive to pressure;

wherein the suction interface forms one large suction cup surrounding the deformable membrane;

wherein upon the gripping apparatus contacting the object to be grasped, the at least a suction interface delimits at least one sealing region between the suction interface and the object;

wherein a shape and area of the at least one sealing region is dependent on a shape of the at least one deformable membrane; and

wherein the sealing region is configured as:

at least one single area where a perimeter of the area is solely defined by contact between the suction interface and the object; or

at least one single area having an outer perimeter defined by the contact between the suction interface and the object and an inner perimeter defined by contact between the deformable membrane and the object; or

at least one single area where the perimeter is solely defined by the contact between the deformable membrane and the object; or

at least two areas, the first area having an outer perimeter defined by the contact between the suction interface and the object and an inner perimeter defined by the contact between the deformable membrane and the object, and a second area where the perimeter is solely defined by the contact between the deformable membrane and the object.

32 . The apparatus of claim 31 , wherein the deformable membrane forms or a torus or has a toroidal surface.

33 . The apparatus of claim 31 , wherein the deformable membrane has an open surface.

34 . A gripping apparatus configured to pick up, manipulate, and release objects, comprising:

at least a rigid or flexible compartment wall;

at least one deformable membrane;

at least one actuation mechanism connected to the deformable membrane configured to at least deform or at least displace the deformable membrane by one of the group consisting of at least linearly, at least transversely, at least radially, at least rotationally, at least spirally, and at least normally;

at least a suction interface connected to a device configured to at least generate suction or at least control positive or negative pressure of the suction interface;

wherein the suction interface is connected to the compartment wall;

wherein the deformable membrane is configured to at least be housed by, or at least be connected to, or at least to slide against the membrane compartment wall;

wherein the deformable membrane at least partially contains a compressible or incompressible fluid;

wherein a geometry of the deformable membrane changes responsive to pressure;

wherein the suction interface forms one large suction cup surrounding the deformable membrane;

wherein upon the gripping apparatus contacting the object to be grasped, the at least a suction interface delimits at least one sealing region between the suction interface and the object;

wherein a shape and area of the at least one sealing region is dependent on a shape of the at least one deformable membrane; and

wherein the sealing region is configured as:

at least two areas, the first area having an outer perimeter defined by contact between the deformable membrane and the object and an inner perimeter defined by contact between the suction interface and the object, and a second area where the perimeter is solely defined by the contact between the suction interface and the object;

at least three areas, the first area having an outer perimeter defined by contact between the suction interface and the object and an inner perimeter defined by contact between the deformable membrane and the object, a second area having an outer perimeter defined by the contact between the deformable membrane and the object and an inner perimeter defined by contact between a second suction interface and the object, and a third area where the perimeter is solely defined by the contact between the second suction interface and the object.