CPC B25J 15/12 (2013.01) [B25J 15/0033 (2013.01)] | 20 Claims |
1. A robot arm assembly for detecting a pose and a force associated with an object, the robot arm assembly comprising:
a robot arm including an end effector;
a deformable sensor provided on the end effector, the deformable sensor comprising:
a housing; and
a deformable membrane coupled to the housing;
a processor communicatively coupled to the deformable sensor; and
a memory module comprising a computer-readable medium storing computer-readable instructions that, when executed by the processor, cause the processor to:
receive an output from the deformable sensor, the output comprising a contact region of the deformable membrane as a result of contact with the object;
determine an amount of displacement of the contact region of the deformable membrane based on the output from the deformable sensor; and
determine the pose and the force associated with the object based on the amount of displacement of the contact region of the deformable membrane.
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