Augmented system and method for grasping objects

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.

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.

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.

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.