US 12,346,524 B2
Systems and methods for touch sensing
Janos Rohaly, Concord, MA (US)
Assigned to Gelsight, Inc., Waltham, MA (US)
Filed by Gelsight, Inc., Waltham, MA (US)
Filed on Dec. 7, 2022, as Appl. No. 18/077,226.
Claims priority of provisional application 63/287,007, filed on Dec. 7, 2021.
Prior Publication US 2023/0359308 A1, Nov. 9, 2023
Int. Cl. G06F 3/042 (2006.01)
CPC G06F 3/042 (2013.01) 30 Claims
OG exemplary drawing
 
1. A system for characterizing interaction between surfaces, comprising:
a. a deformable transmissive layer coupled to an interface membrane, wherein the interface membrane is interfaced against at least one aspect of an interfaced object, the deformable transmissive layer comprising an elastomeric composite having a metal oxide pigment material distributed within an elastomeric matrix, the pigment material configured to provide an illumination reflectance which is greater than that of the elastomeric matrix;
b. a first illumination source operatively coupled to the deformable transmissive layer and configured to emit first illumination light into the deformable transmissive layer at a known first illumination orientation relative to the deformable transmissive layer, such that at least a portion of the first illumination light interacts with the deformable transmissive layer;
c. a detector configured to detect light from within at least a portion of the deformable transmissive layer; and
d. a computing system configured to operate the detector to detect at least a portion of light directed from the deformable transmissive layer, to determine surface orientations pertaining to positions along the interface membrane based at least in part upon interaction of the first illumination light with the deformable transmissive layer, and to utilize the determined surface orientations to characterize a geometric profile of the at least one aspect of the interfaced object as interfaced against the interface membrane.