Dynamically inflatable deformable membranes
View Patent ↗Embodiments of a deformable gripper are described. The deformable gripper comprises a base, a first inner membrane and a second inner membrane coupled to the base, an outer membrane attached to the base such that the outer membrane is positioned to enclose the first inner membrane and the second inner membrane, and an actuator operable to independently expand and contract the first inner membrane and the second inner membrane such that a portion of an outer surface of the outer membrane expands and contracts responsive to the expansion and contraction of at least one of the first inner membrane and the second inner membrane.
1 . A deformable gripper comprising:
a base;
a first inner membrane and a second inner membrane coupled to the base;
an outer membrane attached to the base such that the outer membrane is positioned to enclose the first inner membrane and the second inner membrane; and
an actuator operable to independently expand and contract the first inner membrane and the second inner membrane such that a portion of an outer surface of the outer membrane expands and contracts responsive to an expansion and contraction of at least one of the first inner membrane and the second inner membrane;
wherein the first inner membrane and the second inner membrane are adjacent to one another in a plane parallel to the base.
2 . The deformable gripper of claim 1 , wherein an expansion of the portion of the outer membrane is based on at least one of the first inner membrane and the second inner membrane contacting an inner surface of the outer membrane that is associated with the portion.
3 . The deformable gripper of claim 1 , further comprising an additional portion of the outer membrane expanding responsive to an additional instruction from the actuator, an expansion of the additional portion of the outer membrane is independent of the first inner membrane and the second inner membrane.
4 . The deformable gripper of claim 1 , wherein each of the outer membrane and the first inner membrane and the second inner membrane are independently expandable via a port that is disposed in the base.
5 . The deformable gripper of claim 4 , wherein the port is shared by the outer membrane and the first inner membrane and the second inner membrane.
6 . The deformable gripper of claim 1 , wherein the outer membrane includes a pattern embedded thereupon.
7 . The deformable gripper of claim 6 , further comprising a camera that is configured to capture one or more images of an object contacting the pattern embedded on the outer surface of the outer membrane.
8 . The deformable gripper of claim 7 , wherein the camera is positioned on the base and enclosed by the first inner membrane.
9 . The deformable gripper of claim 8 , wherein the camera is positioned on the base and enclosed by the second inner membrane.
10 . The deformable gripper of claim 8 , wherein the camera is positioned on the base and enclosed by the outer membrane.
11 . The deformable gripper of claim 8 , further comprising a processor that is configured to determine a shape of the object based on the object contacting the pattern.
12 . A deformable gripper comprising:
a base;
a camera;
a first inner membrane and a second inner membrane coupled to the base;
an outer membrane attached to the base such that the outer membrane is positioned to enclose the first inner membrane and the second inner membrane; and
an actuator operable to independently expand and contract the first inner membrane and the second inner membrane such that a portion of an outer surface of the outer membrane expands and contracts responsive to an expansion and contraction of at least one of the first inner membrane and the second inner membrane, wherein an expansion of the portion of the outer membrane is based on at least one of the first inner membrane and the second inner membrane contacting an inner surface of the outer membrane that is associated with the portion, wherein the first inner membrane and the second inner membrane are adjacent to one another in a plane parallel to the base.
13 . The deformable gripper of claim 12 , wherein an additional portion of the outer membrane is operable to expand responsive to an additional instruction from the actuator, an expansion of the additional portion of the outer membrane is independent of the first inner membrane and the second inner membrane.
14 . The deformable gripper of claim 13 , wherein the camera is positioned on the base and enclosed by the first inner membrane.
15 . The deformable gripper of claim 13 , wherein the camera is positioned on the base and enclosed by the second inner membrane.
16 . The deformable gripper of claim 13 , wherein the camera is positioned on the base and enclosed by the outer membrane.
17 . The deformable gripper of claim 12 , wherein each of the outer membrane and the first inner membrane and the second inner membrane are independently expandable via a port.
18 . The deformable gripper of claim 17 , wherein the port is shared by the outer membrane and the first inner membrane and the second inner membrane.
19 . The deformable gripper of claim 12 , wherein the camera is configured to capture one or more images of an object contacting a pattern embedded on the outer surface of the outer membrane.
20 . The deformable gripper of claim 19 , further comprising a processor that is configured to determine a shape of the object based on the object contacting the pattern.