US 11,740,065 B2
Deformable sensors and methods for modifying run-time membrane stiffness using magnetic attraction
Manuel L. Kuehner, Mountain View, CA (US); Naveen Suresh Kuppuswamy, Arlington, MA (US); and Hiroshi Yasuda, San Francisco, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Aug. 6, 2021, as Appl. No. 17/396,062.
Prior Publication US 2023/0040504 A1, Feb. 9, 2023
Int. Cl. B25J 13/08 (2006.01); G01L 5/00 (2006.01); G01B 7/24 (2006.01); B25J 18/06 (2006.01)
CPC G01B 7/24 (2013.01) [B25J 13/081 (2013.01); B25J 18/06 (2013.01); G01L 5/0061 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A deformable sensor comprising:
a membrane coupled to a housing to form a sensor cavity;
a magnetic object located at a base of the sensor cavity configured to modifiably attract magnetically-attractable particles located on or within the membrane to modify stiffness of the deformable sensor by modifying air pressure within the sensor cavity, based on modifiable strength of the magnetic object to attract the magnetically-attractable particles; wherein the magnetic object is a magnet;
a base member located between the base of the sensor cavity and the magnet, wherein the base member is configured to elongate or contract to modify proximity of the magnet to the magnetically-attractable particles; and
a positional sensor configured to measure a position of the magnet relative to the magnetically-attractable particles.