Patent Publication Number: US-2023150148-A1

Title: Robot arm assemblies including fingers having deformable sensors

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/909,804, filed on Jun. 23, 2020, for “Robot Arm Assemblies Including Fingers Having Deformable Sensors,” and claims priority to U.S. Provisional Patent Application No. 62/977,468, filed Feb. 17, 2020, for “Robot Arm Assemblies Including Fingers Having A Bubble Sensor,” and U.S. Provisional Patent Application No. 62/984,083, filed on Mar. 2, 2020, for “Bubble Sensor Grippers For Robust Manipulation And Manipuland State Estimation,” which are hereby incorporated by reference in their entirety including the drawings. 
    
    
     TECHNICAL FIELD 
     Embodiments described herein generally relate to robot arms having contact sensors and, more particularly, to robot arms having deformable contact and geometry/pose sensors on fingers of the robot arms capable of detecting contact and a geometry of an object. 
     BACKGROUND 
     As humans, our sense of touch allows us to determine the shape of an object without looking at the object. Further, our sense of touch provides information as to how to properly grasp and hold an object. Our fingers are more sensitive to touch than other parts of the body, such as arms. This is because we manipulate objects with our hands. 
     Robots are commonly equipped with end effectors that are configured to perform certain tasks. For example, an end effector of a robotic arm may be configured as a human hand, or as a two-fingered gripper. However, robots do not have varying levels of touch sensitivity as do humans. End effectors may include sensors such as pressure sensors, but such sensors provide limited information about the object that is in contact with the end effector. Thus, the robot may damage a target object by using too much force, or drop the object because it does not properly grasp the object. As such, in some applications, a deformable/compliant end effector may be desirable. 
     SUMMARY 
     In one embodiment, a robot arm assembly for detecting a pose and force associated with an object includes a robot arm including an end effector having a plurality of fingers, and a deformable sensor provided on each of the plurality of fingers. The deformable sensor includes a housing, a deformable membrane coupled to the housing, and an enclosure partially defined by the deformable membrane. The enclosure is configured to be filled with a medium. The deformable sensor also includes an internal sensor disposed within the housing. The internal sensor has a field of view directed through the medium and toward an internal surface of the deformable membrane. The robot arm assembly includes one or more processors communicatively coupled to each internal sensor and one or more memory modules including a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to receive an output from each internal sensor, the output including 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 each internal 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. 
     In another embodiment, a method for sensor-based detection of an object includes operating a robot arm including an end effector having a plurality of fingers to cause at least some of the plurality of fingers to contact the object, each of the plurality of fingers including a deformable sensor. An internal sensor disposed within the deformable sensor is utilized having a field of view directed through a medium and toward an internal surface of a deformable membrane of the deformable sensor. A processor communicatively coupled to each internal sensor receives an output from the internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region of the deformable membrane based on the output from each internal sensor. The processor determines a pose and a force associated with the object based on the amount of displacement of the contact region of the deformable membrane. 
     In yet another embodiment, a system for detecting a pose and force associated with an object includes a robot arm including an end effector having a plurality of fingers, and a deformable sensor provided on at least two of the plurality of fingers. The deformable sensor includes a housing, a deformable membrane coupled to the housing, the deformable membrane having a patterned internal surface facing the housing, an enclosure partially defined by the deformable membrane, and a fluid conduit extending through the housing and into the enclosure to fill the enclosure with a medium. The system also includes an internal sensor disposed within the housing. The internal sensor has a field of view directed through the medium and toward an internal surface of the deformable membrane. The internal sensor is configured to detect a contact region of the deformable membrane as a result of contact with the object. The end effector is movable between an open position and a closed position in which a distance between the plurality of fingers when the end effector in the closed position is less than a distance between the plurality of fingers when the end effector is in the open position. 
     These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
         FIG.  1    schematically depicts an example robot arm including an end effector having a plurality of fingers and an example deformable sensor on each finger according to one or more embodiments described and illustrated herein; 
         FIG.  2 A  schematically depicts an enlarged view of the end effector when not grasping a target object according to one or more embodiments described and illustrated herein; 
         FIG.  2 B  schematically depicts an enlarged view of the end effector when grasping a target object according to one or more embodiments described and illustrated herein; 
         FIG.  3    schematically depicts a cross-sectional view of the example deformable sensor of the robot arm of  FIG.  1    according to one or more embodiments described and illustrated herein; 
         FIG.  4    schematically depicts a top perspective view of the example deformable sensor of  FIG.  3    according to one or more embodiments described and illustrated herein; 
         FIG.  5    is a block diagram illustrating hardware utilized in the example robot arm of  FIG.  1    for implementing various processes and systems, according one or more embodiments described and illustrated herein; 
         FIG.  6    schematically depicts an example robot arm including an end effector having a plurality of fingers and an example deformable sensor on each finger according to one or more embodiments described and illustrated herein; 
         FIG.  7    schematically depicts a cross-sectional view of the example deformable sensor of the robot arm of  FIG.  6    according to one or more embodiments described and illustrated herein; 
         FIG.  8 A  schematically depicts a rear perspective view of a bubble module of the example deformable sensor of  FIG.  7    according to one or more embodiments described and illustrated herein; 
         FIG.  8 B  schematically depicts an exploded view of the bubble sensor of  FIG.  8 A  according to one or more embodiments described and illustrated herein; 
         FIG.  9    schematically depicts a filter layer coupled to a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  10    schematically depicts a filter within a field of view of a sensor of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  11 A  schematically depicts a grid pattern on an internal surface of a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  11 B  schematically depicts a dot pattern on an internal surface of a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  12    schematically depicts an image depicting an output of a deformable sensor on an electronic display according to one or more embodiments described and illustrated herein; and 
         FIG.  13    is a flow chart depicting an exemplary process of determining the pose and force associated with an object in contact with a deformable sensor according to one or more embodiments described and illustrated herein. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the present disclosure are directed to robot arms including a plurality of fingers, each finger including at least one deformable/compliant contact and/or geometry sensor (hereinafter “deformable sensors”) that detects contact with a target object and detects the geometry, pose, and contact force of the target object. Particularly, the deformable sensors described herein include a deformable membrane coupled to a housing that maintains a sensor capable of detecting displacement of the deformable membrane by contact with an object. Thus, the deformable sensors described herein provide a robot (or other device) with a sense of touch when manipulating objects. 
     Referring now to  FIGS.  1 ,  2 A, and  2 B , an illustrative robot arm  100  having an end effector  110  for manipulating a target object  150  is depicted. The robot arm  100  may provide particular use in pick-and-drop applications, such as, for example, a bin picking application. However, it should be appreciated that the robot arm  100  is not limited to this use and may be used for other purposes without departing from the scope of the present disclosure. In some embodiments, the robot arm  100  may be used in the healthcare industry, the manufacturing industry, the vehicle repair industry, and/or the like. 
     The robot arm  100  may generally include a base  102  coupled to one or more arm segments (e.g., a first arm segment  104  and/or a second arm segment  106 ) via one or more joints  108   a ,  108   b ,  108   c , thereby providing the robot arm  100  with a wide range of motion. As robot arms for pick-and-drop applications are generally understood, the robot arm  100  depicted in  FIGS.  1 ,  2 A, and  2 B  is now described in further detail herein. 
     In some embodiments, the end effector  110  may include two or more fingers, such as a first finger  112  and a second finger  118 . The first finger and the second finger are attached to joint  108   c  via a coupling member  109 . While the robot arm  100  illustrated herein only depicts two fingers, the present disclosure is not limited to such. That is, the end effector  110  may have three fingers, four fingers, or more than four fingers without departing from the scope of the present disclosure. In some embodiments, the end effector  110  may include five fingers and be formed to provide an appearance similar to that of a human hand. The two or more fingers  112 ,  118  may be movable with respect to one another to open and close the end effector  110  for picking up the target object  150 . For example, the two or more fingers  112 ,  118  may be movable by a controller between an open position ( FIG.  2 A ) whereby the target object  150  is not held by the two or more fingers  112 ,  118  and a closed position ( FIG.  2 B ) whereby the target object  150  is held by the two or more fingers  112 ,  118 . The two or more fingers  112 ,  118  may move between the open position and the closed position by translating or pivoting relative to the coupling member  109 . When the end effector  110  includes more than two fingers, it may not be necessary for each finger  112 ,  118  to operate to grasp the target object  150 . Instead, it may only be necessary for a subset of the fingers  112 ,  118  to be operated, such as two of the fingers  112 ,  118  to pinch the target object  150 . 
     The first finger  112  and the second finger  118  each include a deformable sensor  200 . Each deformable sensor  200  generally includes a housing  210  and a deformable membrane  220 . As described in more detail herein, the deformable membrane  220  deforms upon contact with the target object  150  as the first finger  112  and/or the second finger  118  are moved toward the closed position. As used herein, deformability may refer, for example, to ease of deformation of deformable sensors. Deformability may also refer to how easily a deformable membrane deforms when contacting a target object. A deformable sensor may be of a high spatial resolution, with a dense tactile sensing sensor that is provided at an end effector of a robot, such as the robot arm  100 , thereby giving the robot a fine sense of touch like a human&#39;s fingers. A deformable sensor may also have a depth resolution to measure movement toward and away from the sensor. 
     Referring to  FIGS.  2 A and  2 B , additional details regarding the two or more fingers  112 ,  118  of the end effector  110  are depicted. For example, the first finger  112  may include a proximal end  141  and a distal end  142 . A grip mechanism  113  causes the first finger  112  to pivot with respect to the end effector  110  and the distal end  142  to move inwardly toward the second finger  118  when the end effector  110  is placed in the closed position (as depicted in  FIG.  2 B ) and outwardly away from the second finger  118  when the end effector  110  is placed in the open position (as depicted in  FIG.  2 A ). In addition, the second finger  118  may include a proximal end  143  and a distal end  144 . A grip mechanism  119  causes the second finger  118  to pivot with respect to the end effector  110  and the distal end  144  to move inwardly toward the first finger  112  when the end effector  110  is placed in the closed position (as depicted in  FIG.  2 B ) and outwardly away from the first finger  112  when the end effector  110  is placed in the open position (as depicted in  FIG.  2 A ). 
     Referring to  FIG.  2 A , each of the first finger  112  and the second finger  118  may have an external side member  114  and an internal side member  116 . The external side member  114  of the first finger  112  and the second finger  118  may generally be outwardly facing (e.g., the external side member  114  of the first finger  112  faces away from the second finger  118  and the external side member  114  of the second finger  118  faces away from the first finger  112 ). The internal side member  116  of the first finger  112  and the second finger  118  may generally be inwardly facing (e.g., the internal side member  116  of the first finger  112  faces toward the second finger  118  and the internal side member  116  of the second finger  118  faces toward the first finger  112 ). 
     The deformable membrane  220  of the deformable sensor  200  is inwardly facing (e.g., the deformable membrane  220  of the deformable sensor  200  on the first finger  112  faces toward the second finger  118  and the deformable membrane  220  of the deformable sensor  200  on the second finger  118  faces toward the first finger  112 ). In some embodiments, as shown, the housing  210  of the deformable sensor  200  on the first finger  112  may be at least partially housed within the first finger  112  between the internal side member  116  and the external side member  114 . However, the deformable membrane  220  of the deformable sensor  200  on the first finger  112  extends past or through the internal side member  116  such that the deformable membrane  220  may contact the target object  150 . Alternatively, in some embodiments, the housing  210  of the deformable sensor  200  on the first finger  112  may be provided on the internal side member  116  such that the entire deformable sensor  200  is exteriorly positioned on the first finger  112 . 
     Similarly, in some embodiments, the housing  210  of the deformable sensor  200  on the second finger  118  may be at least partially housed within the second finger  118  between the internal side member  116  and the external side member  114 . However, the deformable membrane  220  of the deformable sensor  200  on the second finger  118  extends past or through the internal side member  116  such that the deformable membrane  220  may contact the target object  150 . Alternatively, the housing  210  of the deformable sensor  200  on the second finger  118  may be provided on the internal side member  116  such that the entire deformable sensor  200  is exteriorly positioned on the second finger  118 . 
     It should be appreciated that the deformable nature of the deformable membrane  220  of each deformable sensor  200 , along with the grip mechanism  113  of the first finger  112  and the grip mechanism  119  of the second finger  118 , allow for the first finger  112  and the second finger  118  to conform around the target object  150  when the end effector  110  grips the target object  150 , as depicted in  FIG.  2 B . As a result of this grip, one or more points on each of the deformable membranes  220  contact the target object  150  resulting in a specific deformation in the deformable membranes  220  corresponding to a geometry and/or pose of the target object  150 . In embodiments where the target object  150  is not circular shaped (e.g., has an irregular shape), the point(s) of contact between the deformable membranes  220  and the target object  150  may cause the deformable membrane  220  of the first finger  112  to have a deformation different from the deformable membrane  220  of the second finger  118 . Regardless of the shape of the target object  150 , when the first finger  112  and the second finger  118  are brought toward each other toward the closed position around the target object  150 , the deformable nature of the deformable membrane  220  on each of the first finger  112  and the second finger  118  generally allows the first finger  112  and the second finger  118  to conform to the shape of the target object  150  so as to maintain a secure grasp of the target object  150  and more successfully hold the target object  150  in place as opposed to robotic end effectors that do not include a deformable sensor. 
     In some embodiments, the first finger  112  and the second finger  118  cooperate to manipulate the target object  150  based on data provided by each of the first finger  112  and the second finger  118 . For example, the first finger  112  and the second finger  118  may each transmit data, including contact force data of the respective finger on the target object  150 , to a computing device. The computing device may then operate the first finger  112  and/or the second finger  118  to ensure that the force applied by each of the fingers  112 ,  118  on the target object  150  is equal or substantially equal so as to not mishandle the target object  150 . For instance, if the contact force of the first finger  112  on the target object  150  is significantly greater than the contact force of the second finger  118  on the target object  150 , the target object  150  may tip over or be inadvertently pushed. Further, if the first finger  112  contacts the target object  150  prior to the second finger  118  contacting the target object  150 , the target object  150  may also be pushed. Thus, the computing device may restrict operation of either or both of the first finger  112  and the second finger  118  so that the target object  150  is properly handled. 
     It should also be appreciated that each finger, such as the first finger  112  and the second finger  118 , may each include a plurality of deformable sensors  200  extending along or through the internal side member  116  thereof instead of a singular deformable sensor  200 . Providing a plurality of deformable sensors  200  on each finger  112 ,  118  allows for a greater number of deformations to be identified along the target object  150  and to provide more accurate determinations of the geometry and/or pose of the target object  150 . 
     Referring now to  FIGS.  3  and  4   , the deformable sensor  200  is schematically illustrated.  FIG.  3    is a cross-sectional view of the deformable sensor  200  and  FIG.  4    is a top perspective view of the deformable sensor  200 . The deformable sensor  200  generally comprises the housing  210  and the deformable membrane  220  coupled to the housing  210 , such as by an upper portion  211  of the housing  210 . In some embodiments, the housing  210  is 3D printed. The housing  210  and the deformable membrane  220  define an enclosure  213  that is filled with a medium through one or more fluid conduits  212 , which may be a valve or any other suitable mechanism. The fluid conduit  212  may be utilized to fill or empty the enclosure  213 . In one example, the medium is gas, such as air. Thus, air may be pumped into the enclosure  213  to a desired pressure such that the deformable membrane  220  forms a dome shape as shown in  FIG.  3   , although any suitable shape may be utilized in other embodiments. In another example, the medium is a gel, such as silicone or other rubber-like substance. In some embodiments, a substance such as solid silicone may be cast in a given shape before assembly of the deformable sensor  200 . In various embodiments, the medium may be anything that is transparent to an internal sensor, discussed in more detail below, such as to a wavelength of a time-of-flight sensor. The medium may include clear/transparent rubbers in some embodiments. In other embodiments, the medium may be a liquid. In some examples, the deformable membrane  220  and the medium within the enclosure  213  may be fabricated of the same material, such as, without limitation, silicone. In some embodiments, the deformable sensor  200  may be mountable. For example, the enclosure  213  may include brackets to be mounted to any suitable object, such as the first finger  112  and the second finger  118  described herein. The deformable membrane  220  may be a latex or any other suitable material, such as a suitably thin, non-porous, rubber-like material. In some embodiments, the deformable membrane  220  is laser-cut from a 0.04 mm thick latex sheet. 
     The deformability of the deformable sensor  200  may be tuned/modified by changing the material of the deformable membrane  220  and/or the pressure within the enclosure  213 . By using a softer material (e.g., soft silicone), the deformable sensor  200  may be more easily deformed. Similarly, lowering the pressure within the enclosure  213  may also cause the deformable membrane  220  to more easily deform, which may in turn provide for a more deformable sensor  200 . In some embodiments, the deformable membrane  220  is inflated to a height of 20 mm to 75 mm and to a pressure of 0.20 psi to 0.30 psi. In some embodiments, the deformable sensor  200  features varying touch sensitivity due to varying spatial resolution and/or depth resolution. As used herein, spatial resolution may refer, for example, to how many pixels a deformable sensor has. The number of pixels may range from 1 (e.g., a sensor that simply detects contact with a target object) to thousands or millions (e.g., a dense tactile sensor provided by a time-of-flight sensor having thousands of pixels) or any suitable number. 
     An internal sensor  230  capable of sensing depth may be disposed within the enclosure  213 . The internal sensor  230  may have a field of view  232  directed through the medium and toward an internal surface of the deformable membrane  220 . In some embodiments, the field of view  232  of the internal sensor  230  may be 62°×45°+/−10%. In some embodiments, the internal sensor  230  may be an optical sensor. As described in more detail below, the internal sensor  230  may be capable of detecting deflections of the deformable membrane  220  when the deformable membrane  220  comes into contact with the target object  150 . In one example, the internal sensor  230  is a time-of-flight sensor capable of measuring depth. The time-of-flight sensor emits an optical signal (e.g., an infrared signal) and has individual detectors (i.e., “pixels”) that detect how long it takes for the reflected signal to return to the sensor. The time-of-flight sensor may have any desired spatial resolution. The greater the number of pixels, the greater the spatial resolution. The spatial resolution of the sensor disposed within the internal sensor  230  may be changed. In some cases, low spatial resolution (e.g., one “pixel” that detects a single point&#39;s displacement) may be desired. In others, a sensitive time-of-flight sensor such may be used as a high spatial resolution internal sensor  230  that provides dense tactile sensing. Thus, the internal sensor  230  may be modular because the sensors may be changed depending on the application. 
     A non-limiting example of a time-of-flight sensor is the Pico Flexx sold by PMD Technologies AG of Siegen, Germany. Other types of visual internal sensors include, by way of non-limiting example, stereo cameras, laser range sensors, structured light sensors/3D scanners, single cameras (such as with dots or other patterns inside), or any other suitable type of visual detector. For example, the internal sensor  230  may be configured as a stereo-camera capable of detecting deflections of the deformable membrane  220  by the target object  150 . 
     Any suitable quantity and/or types of internal sensors  230  may be utilized within a single deformable sensor  200  in some embodiments. In some examples, not all internal sensors  230  within the deformable sensor  200  need be of the same type. In various embodiments, one deformable sensor  200  may utilize a single internal sensor  230  with a high spatial resolution, whereas another deformable sensor  200  may use a plurality of internal sensors  230  that each have a low spatial resolution. In some embodiments, the spatial resolution of a deformable sensor  200  may be increased due to an increase in the quantity of internal sensors  230 . In some examples, a decrease in the number of internal sensors  230  within a deformable sensor  200  can be compensated for by a corresponding increase in the spatial resolution of at least some of the remaining internal sensors  230 . The aggregate deformation resolution may be measured as a function of the deformation resolution or depth resolution among the deformable sensors  200  on a portion of the robot arm  100 . In some embodiments, aggregate deformation resolution may be based upon a quantity of deformable sensors  200  on a portion of the robot arm  100  and a deformation resolution obtained from each deformable sensor  200  in that portion. 
     Referring again to  FIG.  3   , a power conduit  214  may be utilized in the enclosure  213  to provide power and/or data/signals, such as to the internal sensor  230  by way of a cable, such as for USB (universal serial bus) or any other suitable type of power and/or signal/data connection. As used herein, an airtight conduit may include any type of passageway through which air or any other fluid (such as liquid) cannot pass. In this example, an airtight conduit may provide a passageway through which solid object (such as wires/cables) may pass through with an airtight seal, such as an O-ring, being formed around such wires/cables at each end of the airtight conduit. Other embodiments utilize wireless internal sensors  230  to transmit and/or receive data and/or power. In various embodiments where the medium is not a gas, such as silicone, the enclosure  213  and/or the power conduit  214  may not necessarily be airtight. 
     In some embodiments, the internal sensor  230  may include one or more internal pressure sensors (barometers, pressure sensors, etc., or any combination thereof) utilized to detect the general deformation of the deformable membrane  220  through the medium. In some embodiments, the deformable sensor  200  and/or internal sensor  230  may receive/send various data, such as through the power conduit  214  discussed above, wireless data transmission (Wi-Fi, Bluetooth, etc.), or any other suitable data communication protocol. For example, pressure within the deformable sensor  200  may be specified by a pressurization parameter and may be inversely proportional to the deformability of the deformable sensor  200 . In some embodiments, the deformability of a deformable sensor  200  may be modified by changing pressure within the enclosure  213  or a material of the deformable membrane  220 . In some embodiments, receipt of an updated parameter value may result in a real-time or delayed update (pressurization, etc.). 
     Turning now to  FIG.  5   , example components of one non-limiting embodiment of the robot arm  100  is schematically depicted. The robot arm  100  includes a communication path  328 , a processor  330 , a memory module  332 , an inertial measurement unit  336 , an input device  338 , a camera  344 , network interface hardware  346 , a light  352 , a proximity sensor  354 , a battery  360 , and a charging port  362 . The components of the robot arm  100  may be contained within or mounted to the robot arm  100 . The various components of the robot arm  100  and the interaction thereof will be described in detail below. 
     Still referring to  FIG.  5   , the communication path  328  may be formed from any medium that is capable of transmitting a signal such as, for example, conductive wires, conductive traces, optical waveguides, or the like. Moreover, the communication path  328  may be formed from a combination of mediums capable of transmitting signals. In one embodiment, the communication path  328  comprises a combination of conductive traces, conductive wires, connectors, and buses that cooperate to permit the transmission of electrical data signals to components such as processors, memories, sensors, input devices, output devices, and communication devices. Accordingly, the communication path  328  may comprise a bus. Additionally, it is noted that the term “signal” means a waveform (e.g., electrical, optical, magnetic, mechanical or electromagnetic), such as DC, AC, sinusoidal-wave, triangular-wave, square-wave, vibration, and the like, capable of traveling through a medium. The communication path  328  communicatively couples the various components of the robot arm  100 . As used herein, the term “communicatively coupled” means that coupled components are capable of exchanging data signals with one another such as, for example, electrical signals via conductive medium, electromagnetic signals via air, optical signals via optical waveguides, and the like. 
     The processor  330  of the robot arm  100  may be any device capable of executing computer-readable instructions. Accordingly, the processor  330  may be a controller, an integrated circuit, a microchip, a computer, or any other computing device. The processor  330  may be communicatively coupled to the other components of the robot arm  100  by the communication path  328 . This may, in various embodiments, allow the processor  330  to receive data from the one or more deformable sensors  200 . In other embodiments, the processor  330  may receive data directly from one or more internal sensors  230  which are part of one or more deformable sensors  200  on the robot arm  100 . Accordingly, the communication path  328  may communicatively couple any number of processors with one another, and allow the components coupled to the communication path  328  to operate in a distributed computing environment. Specifically, each of the components may operate as a node that may send and/or receive data. While the embodiment depicted in  FIG.  5    includes a single processor  330 , other embodiments may include more than one processor. 
     Still referring to  FIG.  5   , the memory module  332  of the robot arm  100  is coupled to the communication path  328  and communicatively coupled to the processor  330 . The memory module  332  may, for example, contain instructions to detect a shape of the target object  150  that has deformed the deformable sensors  200 . In this example, these instructions stored in the memory module  332 , when executed by the processor  330 , may allow for the determination of the shape of the target object  150  based on the observed deformation of the deformable sensors  200 . The memory module  332  may comprise RAM, ROM, flash memories, hard drives, or any non-transitory memory device capable of storing computer-readable instructions such that the computer-readable instructions can be accessed and executed by the processor  330 . The computer-readable instructions may comprise logic or algorithm(s) written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL) such as, for example, machine language that may be directly executed by the processor, or assembly language, object-oriented programming (OOP), scripting languages, microcode, etc., that may be compiled or assembled into computer-readable instructions and stored in the memory module  332 . Alternatively, the computer-readable instructions may be written in a hardware description language (HDL), such as logic implemented via either a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC), or their equivalents. Accordingly, the functionality described herein may be implemented in any conventional computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. While the embodiment depicted in  FIG.  5    includes a single memory module  332 , other embodiments may include more than one memory module. 
     The inertial measurement unit  336 , if provided, is coupled to the communication path  328  and communicatively coupled to the processor  330 . The inertial measurement unit  336  may include one or more accelerometers and one or more gyroscopes. The inertial measurement unit  336  transforms sensed physical movement of the robot arm  100  into a signal indicative of an orientation, a rotation, a velocity, or an acceleration of the robot arm  100 . The operation of the robot arm  100  may depend on an orientation of the robot arm  100  (e.g., whether the robot arm  100  is horizontal, tilted, or the like). Some embodiments of the robot arm  100  may not include the inertial measurement unit  336 , such as embodiments that include an accelerometer, but not a gyroscope, embodiments that include a gyroscope but not an accelerometer, or embodiments that include neither an accelerometer nor a gyroscope. 
     One or more input devices  338  are coupled to the communication path  328  and communicatively coupled to the processor  330 . The input device  338  may be any device capable of transforming user contact into a data signal that can be transmitted over the communication path  328  such as, for example, a button, a switch, a knob, a microphone, or the like. In various embodiments, an input device  338  may be the deformable sensor  200  as described herein. In some embodiments, the input device  338  includes a power button, a volume button, an activation button, a scroll button, or the like. The one or more input devices  338  may be provided so that the user may interact with the robot arm  100 , such as to navigate menus, make selections, set preferences, and other functionality described herein. In some embodiments, the input device  338  includes a pressure sensor, a touch-sensitive region, a pressure strip, or the like. It should be understood that some embodiments may not include the input device  338 . As described in more detail below, embodiments of the robot arm  100  may include multiple input devices disposed on any surface of the robot arm  100 . In some embodiments, one or more of the input devices  338  are configured as a fingerprint sensor for unlocking the robot arm  100 . For example, only a user with a registered fingerprint may unlock and use the robot arm  100 . 
     The camera  344  is coupled to the communication path  328  and communicatively coupled to the processor  330 . The camera  344  may be any device having an array of sensing devices (e.g., pixels) capable of detecting radiation in an ultraviolet wavelength band, a visible light wavelength band, or an infrared wavelength band. The camera  344  may have any resolution. The camera  344  may be an omni-directional camera, or a panoramic camera. In some embodiments, one or more optical components, such as a mirror, fish-eye lens, or any other type of lens may be optically coupled to the camera  344 . As described in more detail below, the camera  344  is a component of an imaging assembly  322  operable to be raised to capture image data. 
     The network interface hardware  346  is coupled to the communication path  328  and communicatively coupled to the processor  330 . The network interface hardware  346  may be any device capable of transmitting and/or receiving data via a network  370 . Accordingly, network interface hardware  346  can include a wireless communication module configured as a communication transceiver for sending and/or receiving any wired or wireless communication. For example, the network interface hardware  346  may include an antenna, a modem, LAN port, Wi-Fi card, WiMax card, mobile communications hardware, near-field communication hardware, satellite communication hardware, and/or any wired or wireless hardware for communicating with other networks and/or devices. In one embodiment, network interface hardware  346  includes hardware configured to operate in accordance with the Bluetooth wireless communication protocol. In another embodiment, network interface hardware  346  may include a Bluetooth send/receive module for sending and receiving Bluetooth communications to/from a portable electronic device  380 . The network interface hardware  346  may also include a radio frequency identification (“RFID”) reader configured to interrogate and read RFID tags. 
     In some embodiments, the robot arm  100  may be communicatively coupled to the portable electronic device  380  via the network  370 . In some embodiments, the network  370  is a personal area network that utilizes Bluetooth technology to communicatively couple the robot arm  100  and the portable electronic device  380 . In other embodiments, the network  370  may include one or more computer networks (e.g., a personal area network, a local area network, or a wide area network), cellular networks, satellite networks and/or a global positioning system and combinations thereof. Accordingly, the robot arm  100  can be communicatively coupled to the network  370  via wires, via a wide area network, via a local area network, via a personal area network, via a cellular network, via a satellite network, or the like. Suitable local area networks may include wired Ethernet and/or wireless technologies such as, for example, wireless fidelity (Wi-Fi). Suitable personal area networks may include wireless technologies such as, for example, IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and/or other near field communication protocols. Suitable personal area networks may similarly include wired computer buses such as, for example, USB and FireWire. Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM. 
     As stated above, the network  370  may be utilized to communicatively couple the robot arm  100  with the portable electronic device  380 . The portable electronic device  380  may include a mobile phone, a smartphone, a personal digital assistant, a camera, a dedicated mobile media player, a mobile personal computer, a laptop computer, and/or any other portable electronic device capable of being communicatively coupled with the robot arm  100 . The portable electronic device  380  may include one or more processors and one or more memories. The one or more processors can execute logic to communicate with the robot arm  100 . The portable electronic device  380  may be configured with wired and/or wireless communication functionality for communicating with the robot arm  100 . In some embodiments, the portable electronic device  380  may perform one or more elements of the functionality described herein, such as in embodiments in which the functionality described herein is distributed between the robot arm  100  and the portable electronic device  380 . 
     The light  352 , if provided, is coupled to the communication path  328  and communicatively coupled to the processor  330 . The light  352  may be any device capable of outputting light, such as, but not limited to, a light emitting diode, an incandescent light, a fluorescent light, or the like. Some embodiments include a power indicator light that is illuminated when the robot arm  100  is powered on. Some embodiments include an activity indicator light that is illuminated when the robot arm  100  is active or processing data. Some embodiments include an illumination light for illuminating the environment in which the robot arm  100  is located. Some embodiments may not include the light  352 . 
     The proximity sensor  354 , if provided, is coupled to the communication path  328  and communicatively coupled to the processor  330 . The proximity sensor  354  may be any device capable of outputting a proximity signal indicative of a proximity of the robot arm  100  to another object. In some embodiments, the proximity sensor  354  may include a laser scanner, a capacitive displacement sensor, a Doppler effect sensor, an eddy-current sensor, an ultrasonic sensor, a magnetic sensor, an internal sensor, a radar sensor, a LiDAR sensor, a sonar sensor, or the like. Some embodiments may not include the proximity sensor  354 , such as embodiments in which the proximity of the robot arm  100  to an object is determined from inputs provided by other sensors (e.g., the camera  344 , etc.) or embodiments that do not determine a proximity of the robot arm  100  to an object. 
     The robot arm  100  may be powered by the battery  360 , which is electrically coupled to the various electrical components of the robot arm  100 . The battery  360  may be any device capable of storing electric energy for later use by the robot arm  100 . In some embodiments, the battery  360  is a rechargeable battery, such as a lithium-ion battery or a nickel-cadmium battery. In embodiments in which the battery  360  is a rechargeable battery, the robot arm  100  may include the charging port  362 , which may be used to charge the battery  360 . Some embodiments may not include the battery  360 , such as embodiments in which the robot arm  100  is powered the electrical grid, by solar energy, or by energy harvested from the environment. Some embodiments may not include the charging port  362 , such as embodiments in which the apparatus utilizes disposable batteries for power. 
     Referring now to  FIG.  6   , there is depicted another example robot arm  400 . The robot arm  400  may generally include a base  402  coupled to one or more arm segments, such as a first arm segment  404  and a second arm segment  406  via one or more joints  408   a ,  408   b ,  408   c , and an end effector  410  including a first finger  412  and a second finger  418  for manipulating a target object  450 . The first finger  412  and the second finger  418  of the end effector  410  of the robot arm  400  each includes an example deformable sensor  500 . The deformable sensor  500  may be directly connected or coupled to a coupling member  409 , as opposed to being provided between side members  114 ,  116  of the fingers  112 ,  118 . 
     The first finger  412  may include a proximal end  441  and a distal end  442 . In some embodiments, a grip mechanism  413  causes the first finger  412  to pivot with respect to the end effector  410  and the distal end  442  to move outwardly in the direction of arrow B 1  away from the second finger  418  when the end effector  410  is moved toward the open position and inwardly in the direction of arrow B 2  toward the second finger  418  when the end effector  410  is moved toward the closed position. In addition, the second finger  418  may include a proximal end  443  and a distal end  444 . In some embodiments, a grip mechanism  419  causes the second finger  418  to pivot with respect to the end effector  410  and the distal end  444  to move outwardly in the direction of arrow C 1  away from the first finger  412  when the end effector  410  is moved toward the open position and inwardly in the direction of arrow C 2  toward the first finger  412  when the end effector  410  is moved toward the closed position. In this embodiment, the grip mechanisms  413 ,  419  may be any suitable translating member such as, for example, an actuator, rotary motor, or the like. 
     In some embodiments, the grip mechanism  413  of the first finger  412  and the grip mechanism  419  of the second finger  418  operate to linearly translate the first finger  412  and the second finger  418  relative to the end effector  410  instead of pivoting, as discussed above. As such, the grip mechanism  413  causes the first finger  412  to move inwardly in the direction of arrow B 3  toward the second finger  418  when the end effector  410  is moved toward the closed position and outwardly in the direction of arrow B 4  away from the second finger  418  when the end effector  410  is moved toward the open position. In addition, the grip mechanism  419  causes the second finger  418  to move inwardly in the direction of arrow C 3  toward the first finger  412  when the end effector  410  is moved toward the closed position and outwardly in the direction of arrow C 4  away from the first finger  412  when the end effector  410  is moved toward the open position. In this embodiment, the grip mechanisms  413 ,  419  may be any suitable translating member such as, for example, a linear actuator, a rack and pinion gear, or the like. The robot arm  400  may further include any combination of the components illustrated in  FIG.  5    and operate in the manner discussed herein. 
     Referring now to  FIGS.  7 ,  8 A, and  8 B , the deformable sensor  500  is schematically illustrated.  FIG.  7    is a cross-sectional view of the deformable sensor  500 . The deformable sensor  500  is similar to the deformable sensor  200  and generally comprises a housing  510  and a bubble module  511  coupled to the housing  510 . The bubble module  511  includes a deformable membrane  520 , such as deformable membrane  220 . The deformable membrane  520  may include any or all of the features disclosed herein with respect to the deformable membrane  220 . The bubble module  511  is similar to the upper portion  211  of the deformable sensor  200 , but easily removable from the housing  510  and, thus, replaceable when necessary. The bubble module  511  defines an enclosure  513  that is filled with a medium through one or more fluid conduits  512 , which may be a valve or any other suitable mechanism, extending through the housing  510  and terminating at the bubble module  511 . As shown, the fluid conduit  512  includes a tube  512 A and a tube fitting  512 B. The fluid conduit  512  may be utilized to fill or empty the enclosure  513 . As the enclosure  513  is filled with the medium, the deformable membrane  520  forms a dome shape, as shown in  FIG.  8   . 
     An internal sensor  530 , such as the internal sensor  230 , capable of sensing depth may be disposed within the housing  510 . The internal sensor  530  may have a field of view  532 , having an angle A 1 , directed through the medium and toward an internal surface of the deformable membrane  520 . As a non-limiting example, the angle A 1  of the field of view  532  of the internal sensor  530  may be 62°×45°+/−10%. In some embodiments, the internal sensor  530  may be an optical sensor. As described in more detail below, the internal sensor  530  may be capable of detecting deflections of the deformable membrane  520  when the deformable membrane  520  comes into contact with an object, such as the target object  450 . In one example, the internal sensor  530  is a time-of-flight sensor capable of measuring depth. The time-of-flight sensor emits an optical signal (e.g., an infrared signal) and has individual detectors (i.e., “pixels”) that detect how long it takes for the reflected signal to return to the sensor. 
     As shown in  FIG.  7   , the internal sensor  530  is provided within the housing  510  and oriented at an angle A 2  with respect to the bubble module  511 , specifically the backing plate  522 , such that the internal sensor  530  is not parallel to the backing plate  522 . Specifically, the internal sensor  530  extends along an axis with the angle A 2  extending between the axis of the internal sensor  530  and a backing plate  522  of the bubble module  511 . As a non-limiting example, the angle A 2  between the internal sensor  530  and the bubble module  511 , i.e., the backing plate  522 , may be 35°+/−10%. The internal sensor  530  being angled maximizes the field of view  532  and depth measurement accuracy at a center and distal edge of the deformable membrane  520  opposite the internal sensor  530 , while minimizing an overall width dimension of the deformable sensor  500 . 
     Referring now to  FIGS.  8 A and  8 B , the bubble module  511  of the deformable sensor  500  is shown separate from the housing  510 . As shown in  FIG.  8 A , the bubble module  511  is shown in its assembled form, while  FIG.  8 B  illustrates an exploded view of the bubble module  511 . The bubble module  511  includes the deformable membrane  520 , the backing plate  522 , and a ring  524  for securing the deformable membrane  520  onto the backing plate  522 . The bubble module  511  may be removably coupled to the housing  510  using any suitable means, such as threaded inserts  525  extending through holes  527  in the backing plate  522  for securing the backing plate  522  to the housing  510 . Alternatively, or in addition thereto, the threaded inserts  525  may be used to further secure an outer edge  521  of the deformable membrane  520  to the backing plate  522 . 
     More particularly, the backing plate  522  includes a housing surface  522 A, a membrane surface  522 B, and an edge surface  522 C extending between the housing surface  522 A and the membrane surface  522 B. The backing plate  522  is formed from a transparent material, such as an acrylic, so that the field of view  532  of the internal sensor  530  is not obstructed by the bubble module  511 . In assembling the bubble module  511 , an adhesive may be applied onto the edge surface  522 C of the backing plate  522 . Thereafter, the outer edge  521  of the deformable membrane  520  may be positioned around the backing plate  522  to contact the edge surface  522 C thereof and be adhered thereto. Further, the ring  524  may be positioned around the edge surface  522 C of the backing plate  522 , thereby encircling the backing plate  522  to sandwich the deformable membrane  520  between the backing plate  522  and the ring  524 . As noted above, the threaded inserts  525  may be used to further secure the deformable membrane  520  to the backing plate  522  by positioning the outer edge  521  of the deformable membrane  520  along the housing surface  522 A of the backing plate  522  and inserting the threaded inserts  525  through the outer edge  521  of the deformable membrane  520  and the backing plate  522 . As shown, the tube fitting  512 B is shown attached to the backing plate  522  at an orifice  523  and the tube  512 A extends from the tube fitting  512 B to deliver a medium into the bubble module  511 . 
     Thus, if the deformable sensor  500  is damaged, for example if the deformable membrane  520  punctured, such that medium leaks out of the bubble module  511 , the deformable sensor  500  may be repaired without interfering with the housing  510  and electrical components provided therein, such as the internal sensor  530 . In doing so, the bubble module  511  is removed from the housing  510  via the threaded inserts  525 , or any other suitable means provided, and a replacement bubble module  511  may be coupled to the housing  510 . Alternatively, it may be desirable to repair the existing bubble module  511  by replacing only the deformable membrane  520  or repairing the deformable membrane  520  itself by providing a patch to seal the puncture or other damaged area. It should appreciated that providing the deformable sensor  500  having the bubble module  511  that may be easily replaced allows for a greater portion of the deformable sensor  500  to be housed within the robot arm  400 , while only the bubble module  511  is exposed and accessible from an exterior of the robot arm  400 . This reduces the size of such a robot arm  400  and reduces the likelihood of damage to the deformable sensor  500  during operation. 
     Referring now to  FIG.  9   , in some embodiments, the deformable sensors  200 ,  500  may include a filter layer  223 . In a non-limiting example, the filter layer  223  is illustrated as being provided on the deformable sensor  200 . The filter layer  223  may be disposed on an internal surface  221  of the deformable membrane  220 . As described in more detail herein, the internal surface  221  of the deformable membrane  220  may be patterned (e.g., a dot pattern  225 , a grid pattern  222 , or any other suitable type pattern). By way of non-limiting example, a stereo-camera may be utilized to detect displacement of the deformable membrane  220  based on identified deformations of the patterned internal surface  221 . The filter layer  223  may be configured to aid the internal sensor  230  in detecting deformation of the deformable membrane  220 . In some embodiments, the filter layer  223  reduces glare or improper reflections of one or more optical signals emitted by the internal sensor  230 . In some embodiments, the filter layer  223  may scatter one or more optical signals emitted by the internal sensor  230 . The filter layer  223  may be an additional layer secured to the internal surface  221  of the deformable membrane  220 , or it may be a coating and/or pattern applied to the internal surface  221  of the deformable membrane  220 . 
     Referring to  FIG.  10   , in some embodiments, the deformable sensors  200 ,  500  may include an internal sensor filter  235 . In a non-limiting example, the internal sensor filter  235  is illustrated as being provided on the internal sensor  230  of the deformable sensor  200 . The internal sensor filter  235  may be disposed within the field of view  232  of the internal sensor  230 . The internal sensor filter  235  may optimize the optical signal emitted by the internal sensor  230  for reflection upon the internal surface  221  of the deformable membrane  220 . Like the filter layer  223 , the internal sensor filter  235  may be disposed within a field of view  232  of the internal sensor  230  and may reduce glare or improper reflections of any optical signals emitted by the internal sensor  230 . In some embodiments, the internal sensor filter  235  may scatter one or more optical signals emitted by the internal sensor  230 . In some embodiments, both the filter layer  223  and the internal sensor filter  235  may be utilized. 
     A pattern may be provided on either the internal surface  221  of the deformable membrane  220  of the deformable sensor  200  or the internal surface of the deformable membrane  520  of the deformable sensor  500 . As shown in  FIG.  11 A , as a non-limiting example, a dot pattern  225  including a plurality of arranged dots may be applied to the internal surface  221  of the deformable membrane  220  on the filter layer  223  or the deformable membrane  220  itself to assist in the detection of the deformation of the deformable membrane  220 . For example, the dot pattern  225  may assist in the detection of the deformation when the internal sensor  230  is a stereo-camera. Alternatively, a stereo-camera may be provided in addition to the internal sensor  230  to supplement the deformation detection of the internal sensor  230 . Varying degrees of distortion to the dot pattern  225  may be utilized to discern how much deformation has occurred to the deformable membrane  220 . The pattern on the internal surface  221  may be random and not necessarily arranged in a dot pattern  225  or an array as shown in  FIG.  11 A . 
     In some embodiments in which the dot pattern  225  is provided, an initial or pre-deformation image of the dot pattern  225  on the internal surface  221  of the deformable membrane  220  may be captured prior to any deformation of the deformable membrane  220 . Thereafter, the internal sensor  230 , or separate stereo-camera, if provided, captures at least one post-deformation image of the dot pattern  225  during or after deformation of the deformable membrane  220 . The pre-deformation image may be compared to the post-deformation image and the location of each dot in the pre-deformation image is compared to corresponding dots in the post-deformation image to determine an amount of displacement of the dots and, thus, the displacement of the deformation membrane  220 . The displacement of each dot may be used to determine the amount of deformation at individual quadrants or sections of the dot pattern  225 . The amount of displacement of each dot is then converted into a distance measurement to determine the specific deformation of the deformable membrane  220 , or sections thereof, to discern a geometry and/or pose of the object deforming the deformable membrane  220 . 
     In some embodiments, measurements between each dot, or at least some of the dots, of the dot pattern  225  may be stored within a memory module, such as memory module  332  ( FIG.  5   ) of the deformable sensor  200  or an associated processor, such as processor  330  ( FIG.  5   ). Still referring to  FIG.  11 A , instead of merely determining a geometry and/or pose of the target object  150 , the dimensions of various sections of the target object may be determined by calculating specific deformations between adjacent dots of the dot pattern  225 . When the dot pattern  225  includes a greater number of dots, the dot pattern  225  may permit detection of deformation within smaller areas of the deformable membrane  220  as compared to when the dot pattern  225  includes a fewer number of dots. In embodiments in which the dots of the dot pattern  225  is arranged in an array, the dots may be equidistantly spaced apart from one another or arranged in any other suitable manner. However, in some embodiments, the distances between the dots when not equidistantly spaced from one another are stored within the memory module to identify the arrangement of the dots. In addition, it should be appreciated that the same technique discussed above of comparing the pre-deformation image to the post-deformation image may be repeated for a plurality of post-deformation images taken during deformation of the deformable membrane  220  to provide real-time data as to the geometry, measurements, and/or pose of the target object  150 . By comparing post-deformation images to one another, displacement of the deformable membrane  220  occurring within smaller increments of time can be determined, as opposed to a total deformation of the deformable membrane  220  from an initial, pre-deformed state. 
     Referring to  FIG.  11 B , as a non-limiting example, a pattern may be a grid pattern  222  applied to the internal surface  221  of the deformable membrane  220  to assist in the detection of the deformation of the deformable membrane  220 . For example, the grid pattern  222  may assist in the detection of the deformation when the internal sensor  230  is a stereo-camera. For example, varying degrees of distortion to the grid pattern  222  may be utilized to discern how much deformation has occurred. In this example, the distance between parallel lines and/or measuring curvature of lines in the grid pattern  222  may be used to determine the amount of deformation at each point in the grid pattern  222 . The pattern on the internal surface  221  may be random and not necessarily arranged in a grid pattern  222  or an array as shown in  FIG.  11 B . It should be understood that embodiments are not limited to grid patterns and dot patters as discussed herein, as other types of patterns are possible, such as shapes and the like. 
       FIG.  12    depicts an image of an example object, such as the target object  150 , displacing the deformable membrane  220  of the example deformable sensor  200 . It should be appreciated that the deformable sensor  500  may also be used in the same manner as discussed herein. In the illustrated embodiment, a display device  740  outputs for display on a device, output of the deformable sensor  200  in real time as the target object  150  contacts and/or deforms the deformable membrane  220 . It should be understood that the display device  740  is provided for illustrative purposes only, and that embodiments may be utilized without the display device  740 . 
     As the object  150  is pressed into the deformable membrane  220 , the target object  150  imparts its shape into the deformable membrane  220  such that the deformable membrane  220  conforms to the shape of the target object  150 . The spatial resolution of the internal sensor  230  may be such that the internal sensor  230  detects the geometry and/or pose of the displaced deformable membrane  220 . For example, when the internal sensor  230  is a time-of-flight sensor, the optical signal that is reflected off of the internal surface  221  of the deformable membrane  220  that is being deflected by the target object  150  has a shorter time-of-flight than the optical signal that is reflected by the deformable membrane  220  at a region outside of the deflected region. Thus, a contact region  742  (or displaced region, used herein interchangeably) having a geometry and/or pose matching the shape of the target object  150  may be outputted and displayed on the display device  740 . 
     The deformable sensor  200  therefore may not only detect the presence of contact with the target object  150 , but also the geometry of the target object  150 . In this manner, the robot arm  100  equipped with the deformable sensor  200  or the robot arm  400  equipped with the deformable sensor  500  may determine the geometry of the target object  150  based on contact therewith. Additionally, a geometry and/or pose of the target object  150  may also be determined based on the geometric information sensed by the deformable sensors  200 ,  500 . For example, a vector  744  that is normal to a surface in the contact region  742  may be displayed, such as when determining the pose of the target object  150 . The vector  744  may be used by the robot arm  100  or another device to determine which direction the target object  150  may be oriented, for example. 
     The display device  740  may be provided for displaying an output of the deformable sensor  200  in real time as the target object  150  contacts and/or deforms the deformable membrane  220 . It should be appreciated that the display device  740  may be utilized with the robot arms  100 ,  400  illustrated in  FIGS.  1  and  6   , respectively. In a non-limiting example, the display device  740  may be provided for displaying in real time an output of the deformable sensor  200  on the first finger  112  and the deformable sensor  200  on the second finger  118 . In doing so, when the robot arm  100  includes a pair of fingers, such as the first finger  112  and the second finger  118 , an output may be displayed of the target object  150  collected from opposite or a plurality of sides of the target object  150 . This allows for a more complete image of the target object  150  to be formed and to better determine the geometry and/or pose of the target object  150 , as compared to when only a single deformable sensor  200  contacts the target object  150 . In embodiments in which the robot arm  100  includes more than two spaced apart fingers, such as three fingers or four fingers and each finger including a deformable sensor  200 , the resulting display of the combined output by each of the deformable sensors  200  provides an even more complete image of the geometry and/or pose of the target object  150 . 
     Turning now to  FIG.  13   , a flowchart illustrates an exemplary method  800  for determining the pose and force associated with an object, such as the target object  150 , in contact with the deformable sensors  200  of the robot arm  100  and the deformable sensors  500  of the robot arm  400 . However, as discussed herein, reference is made to the robot arm  100  illustrated in  FIGS.  1 - 5   , which includes the deformable sensors  200 , without limiting the scope of the present disclosure. At block  802 , a medium (gas, liquid, silicone, etc.) is received within the enclosure  213  where the deformable membrane  220  is coupled to the upper portion  211  of the housing  210 . At block  804 , deformation of the deformable membrane  220  may be measured based on contact with the target object  150  via the internal sensor  230  in the enclosure  213  having a field of view  232  directed through the medium and toward the internal surface  221  of the deformable membrane  220 . At block  806 , a pose of the target object  150  may be determined based on the measure deformation of the deformable membrane  220 , such as the contact region  742 . As discussed above with reference to  FIG.  13   , a pose of the object  150  may be determined by the object  150  being pressed into the deformable membrane  220  and the deformable membrane  220  conforming to the shape of the target object  150 . Thereafter, the internal sensor  230  detects the geometry and/or pose of the displaced deformable membrane  220 . At block  808 , an amount of force between the deformable membrane  220  and the target object  150  is determined based on the measured deformation of the deformable membrane  220 . Blocks  806  and  808  may be performed simultaneously, but do not necessarily need to be. At block  810  a determination is made as to whether further deformation and/or contact is detected. If so, then the flowchart may return to block  804 . If not, the flowchart may end. 
     It should now be understood that embodiments of the present disclosure are directed to robot arms including deformable sensors capable of detecting contact with a target object as well as determining a geometric shape and pose of the target object. The information provided by the deformable sensors may be used to control interaction of the robot arm with the target object. The depth resolution and spatial resolution of the deformation sensors may vary depending on the location of the deformable sensors on the robot. 
     It is noted that recitations herein of a component of the present disclosure being “configured” or “programmed” in a particular way, to embody a particular property, or to function in a particular manner, are structural recitations, as opposed to recitations of intended use. More specifically, the references herein to the manner in which a component is “configured” or “programmed” denotes an existing physical condition of the component and, as such, is to be taken as a definite recitation of the structural characteristics of the component. 
     The order of execution or performance of the operations in examples of the disclosure illustrated and described herein is not essential, unless otherwise specified. That is, the operations may be performed in any order, unless otherwise specified, and examples of the disclosure may include additional or fewer operations than those disclosed herein. For example, it is contemplated that executing or performing a particular operation before, contemporaneously with, or after another operation is within the scope of aspects of the disclosure. 
     It is noted that the terms “substantially” and “about” and “approximately” may be utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue. 
     While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be utilized in combination. It is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.