Graspable apparatus with deformation sensor assembly and methods of using the same

A graspable assembly for grasping sensing comprising:

• an active portion configured to interact with a target;
• a grip portion comprising a first end, a second end, and a body between the first end and the second end;
• a shaft portion mechanically connecting the active portion and the grip portion;
• and
• a deformation sensor assembly embedded in the body, the deformation sensor assembly comprising:
• a housing defining a cavity therein, the housing comprising a deformable surface configured to be engaged with a user during grasping,
• a plurality of objects disposed within the cavity, and
• a vision sensor arranged in the cavity, the vision sensor operable to monitor real-time positions of the plurality of objects.

A method to use a graspable apparatus for grasping sensing comprising:

• monitoring, using a vision sensor arranged in a cavity of a deformation sensor assembly, real-time positions of a plurality of objects disposed within the cavity;
• determining whether at least one of the plurality of objects is displaced based on the real-time positions of the plurality of objects;
• in response to determining that the at least one of the plurality of objects is displaced, determining a grasping pressure of a deformable surface of the deformation sensor assembly at least partially based on a displacement of the at least one of the plurality of objects, wherein:
• the deformation sensor assembly is embedded in a grip portion of the graspable apparatus, the deformation sensor assembly comprising a housing, the plurality of objects, and the vision sensor, and
• the housing defines the cavity therein, the housing comprising the deformable surface configured to be engaged with a user during grasping.