2368results about "Joints" patented technology

A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.

A robotic torso for a humanoid robot includes a first torso member having an axial axis aligned with a reference axis and a second torso member having at least one mounting portion for at least one humanoid component. The robotic torso includes a series of actuators arranged in a column between the first torso member and the second torso member and coupling the first torso member to the second torso member. Each of the actuators has a rotatable member defining a rotational axis. The rotational axes of each adjacent pair of actuators in the series of actuators are orthogonal to each other.

The invention discloses a five-finger bionic dexterous hand with distributed touch perception and a control method. The five-finger bionic dexterous hand comprises a palm part; fingers of the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit respectively comprise a three-stage series flexion and extension mechanism which is sequentially composed of a third knuckle, a second knuckle and a first knuckle from a metacarpophalangeal joint, and each three-stage series flexion and extension mechanism has three flexion and extension freedom degrees and one deflection freedom degree; the tendon rope driving units are arranged in the palm part; the palm center camera is integrated on the front face of the palm part and used for collecting visual information of an operation area; the 15 air pressure type touch sensor modules are installed on the third knuckles, the second knuckles and the first knuckles of all the finger units in a distributed mode, and each air pressure type touch sensor module is integrated with a pressure and temperature double sensing unit and used for sensing contact pressure and environment temperature; the control module is integrated on the back face of the palm part and is in signal connection with the palm center camera, the air pressure type touch sensor modules and the tendon rope driving unit.

The invention relates to an all-humanoid robot motion redirection method and device based on motion capture equipment, and the method comprises the steps: converting a human body posture quaternion collected by the motion capture equipment into a rotation matrix, and achieving the precise mapping from a Cartesian space to a robot joint space in combination with an Euler angle decomposition strategy; a quaternion-disassembled joint angle is used as an initial solution, various physical constraints are introduced in real time according to the actual supporting state of the robot, and the lower limb joint angle is corrected online by constructing and solving an inverse kinematics problem with various constraints, so that the robot reproduces the action of an operator, and the joint angle of the lower limb can be corrected online. And the requirements of joint limiting, self-collision avoidance, dynamic balance and the like are strictly met, so that the accuracy of motion simulation and the stability of the system are effectively unified.

A robot kinetic parameter identification method based on double-layer iteration and friction compensation comprises the following steps: S1, establishing a kinetic model of a robot, and performing linearization processing on the kinetic model to obtain a linearization model represented by an observation matrix and an inertial parameter vector; s2, designing an excitation trajectory for the linearized model by adopting improved Fourier series of a quintic polynomial, and setting constraint conditions of joint positions, speeds and accelerated speeds; s3, the robot is controlled to move according to the excitation track, and joint state data of the robot are collected and subjected to noise reduction processing; and defining the noise-reduced driving torque as a measurement torque. According to the robot kinetic parameter identification method based on double-layer iteration and friction compensation, the physical feasibility of the robot kinetic parameters can be ensured, the friction model is improved to identify the friction parameters, the friction model is fitted by adopting the radial basis function neural network, and the precision of subsequent robot control is ensured.

The invention discloses a joint module of a humanoid robot. The joint module comprises a shell, a first cooling pipeline, a motor and a speed reducing mechanism, wherein the motor and the speed reducing mechanism are coaxially arranged in the shell; the motor comprises a main shaft rotationally arranged in the shell, and a first rotor, a stator and a second rotor which are sequentially arranged along the axial direction of the main shaft; the annular base of the stator is fixed in the inner cavity of the shell; the main shaft is coaxially arranged on the inner ring of the annular base, and the two ends of the main shaft extend out of the stator and are connected with the double rotors respectively. Stator iron cores which are distributed at intervals along the circumferential direction are arranged on the annular base; the shell is provided with an internal oil way, and the internal oil way comprises a spiral oil way surrounding the periphery of the speed reducing mechanism. And the first cooling pipeline is annularly fixed on the inner ring of the stator. On the basis that a single-stator double-rotor motor structure is adopted, the first cooling pipeline is arranged on the stator, and the spiral oil way is arranged on the periphery of the speed reducing mechanism in a surrounding mode, so that the joint module is effectively cooled, and the service life of the joint module is prolonged.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid driving and driven humanoid robot lower limb and waist assembly which serves as a connection foundation of lower limbs and a robot trunk. The near ends of the thigh assemblies are connected with the waist assembly through hip joints; the near end of the shank assembly is connected with the far end of the thigh assembly through a knee joint; the foot component is connected with the far end of the shank component through an ankle joint; the hip joint is provided with three rotational degrees of freedom, the knee joint is provided with one rotational degree of freedom, and the ankle joint is provided with two rotational degrees of freedom; the rotational degree of freedom of each joint in a sagittal plane is driven by an active hydraulic actuator and a passive hydraulic actuator; the rotational degree of freedom of each joint in a horizontal plane and a coronal plane is driven by a motor joint module; the advantages of electric drive and hydraulic drive are brought into full play, and the problems of high power consumption in the negative work stage, complex traditional hydraulic drive pipelines and the like are solved by adopting an active and passive combined distributed hydraulic drive technology.

The utility model discloses a snake bone joint, a flexible joint assembly and a surgical operation arm, relates to the technical field of medical instruments, and aims to relieve the problem that two snake bones slide in an uncertain dislocation mode when the snake bone joint is bent. The snake bone joint comprises a first snake bone and a second snake bone, the first snake bone and the second snake bone can rotate based on respective pivots, the two pivots are parallel, and the distance between the two pivots is constant; the first snake bone comprises a restraint roller, the second snake bone comprises a restraint hole site, and the restraint roller is movably arranged in the restraint hole site; the restraining hole site comprises a first restraining face and a second restraining face which are oppositely arranged, and the restraining roller arranged in the restraining hole site is clamped between the first restraining face and the second restraining face. Therefore, the snake bone joint has the advantage that the bending precision and the load deformation resistance of the snake bone joint are improved.

The invention discloses a robot system with tactile perception, and belongs to the technical field of tactile robots. The problem that an existing robot is poor in environment pressure sensing capacity is solved. Comprising a head module, an integrated vision-inertial navigation sensing module and a head controller, two side surfaces are provided with a pair of rotatable connecting ends, and the outer surface is provided with a tactile sensor; the head controller transmits data to the upper computer through the communication module; the driving body module comprises a plurality of modularized joints which are connected end to end, touch sensors are arranged on the two side faces of each modularized joint, and the adjacent modularized joints are orthogonally connected; the modularized joint is integrated with a joint controller and a joint steering engine; the tail module integrates a tail controller and a tail steering engine, and tactile sensors are arranged on the two side faces of the tail module. The tail controller carries out data transmission with the head controller through the adjacent previous joint controller in sequence, and the head controller receives a control instruction of the upper computer and carries out data transmission with all other controllers. According to the invention, the environmental pressure can be sensed in all directions.

The invention discloses a dual-motor driving system of a variable-stiffness robot joint and a dual-motor cooperative variable-stiffness control method of the dual-motor driving system. The dual-motor cooperative variable-stiffness control method comprises the steps that motor parameters of a first motor and a second motor and joint parameters of the variable-stiffness robot joint are obtained; constructing a motor electrical model, a motor mechanical model, a joint mechanical model and a spring-damping model of the backlash according to the motor parameters and the joint parameters; determining a total optimization objective function, and solving the total optimization objective function according to the motor electrical model, the motor mechanical model, the joint mechanical model and the spring-damping model to obtain a first current error and a second current error; designing a cooperative controller according to the first current error and the second current error, and outputting a control quantity; and performing dual-motor cooperative variable stiffness control on the first motor and the second motor according to the control quantity. The response speed and rigidity flexibility of the variable-rigidity robot joint can be improved, and the variable-rigidity robot joint can be widely applied to the technical field of motor control.

The invention discloses a double-rotor single-stator planetary speed reduction type joint module which comprises a hollow shaft, a driver assembly, an axial magnetic flux motor, a planetary speed reducer and an output shaft, and the driver assembly, the axial magnetic flux motor and the planetary speed reducer are sequentially arranged on the hollow shaft in the axial direction; the axial magnetic flux motor comprises a rotor support, a stator assembly and two rotor assemblies, the two rotor assemblies are symmetrically arranged on the two different sides of the stator assembly in the axial direction respectively, and the two rotor assemblies are in transmission connection with the power input end of the planetary reducer through the rotor support. The power output end of the planetary reducer, the output shaft and the hollow shaft are in transmission connection in sequence; the stator assembly comprises a plurality of stator units which are circumferentially arranged; each of the two rotor assemblies comprises a rotor supporting plate and a plurality of magnetic steels. Wiring arrangement of the joint module can be facilitated, the integration degree is improved, and the torque density of the joint module is effectively improved.

The invention discloses a joint heat dissipation structure and a robot in the technical field of robots. The joint heat dissipation structure comprises a joint, the joint is provided with a shell, a containing cavity is formed in the inner side of the shell, a motor is fixedly arranged in the containing cavity, the joint heat dissipation structure is further provided with a heat dissipation assembly used for reducing the temperature in the containing cavity, the heat dissipation assembly is a pulsating heat pipe, and the pulsating heat pipe comprises an evaporation section and a condensation section. The evaporation section is attached to the outer wall of the motor, and the condensation section is attached to the inner wall of the shell. The pulsating heat pipe is used for heat dissipation, based on the phase change heat transfer principle, no extra fan or pump is needed, self-oscillation flowing is achieved completely through thermal driving, and the overall energy consumption of the robot is remarkably reduced. The pulsating heat pipe is small in occupied space, light in weight, simple in structure, low in maintenance cost and suitable for long-term operation, and joint movement flexibility and load capacity are effectively improved; the condensation section is attached to the inner wall of the shell, the joint shell can be heated while heat dissipation is conducted, and the warm touch feeling can be provided without extra energy consumption.

The invention relates to the technical field of robots, and discloses an electro-hydraulic hybrid drive active and passive humanoid robot which is characterized in that a head assembly adopts pure electric drive configuration, and three-degree-of-freedom rotation of a neck is realized through driving of a parallel-series hybrid mechanism; the upper limb assembly is purely electrically driven and comprises a two-degree-of-freedom waist joint driven by a differential parallel transmission mechanism and a seven-degree-of-freedom mechanical arm driven by a near-end motor through a spherical parallel mechanism, a four-bar mechanism and the differential parallel transmission mechanism; the lower limb assembly adopts mixed configuration of active and passive hydraulic main drive and motor auxiliary drive, the single leg has six degrees of freedom, sagittal plane degrees of freedom of hip joints, knee joints and ankle joints are driven by active and passive hydraulic actuators, and other degrees of freedom are driven by a motor joint module; high-dynamic, high-outbreak, high-energy-efficiency, large-load and impact-resistant operation of the upper limbs is achieved while high-dynamic, large-load, high-rigidity and high-precision operation of the upper limbs is guaranteed, and the movement, operation and cruising ability of the whole machine is remarkably improved.

The invention relates to the technical field of robot control, in particular to a self-adaptive joint control method and system for a humanoid robot. Comprising the following steps: acquiring relative motion information, motion state information and internal mechanical state information to form comprehensive sensing data; performing contact prediction based on the comprehensive perception data, completing contact risk judgment and determining a potential contact area; and in response to the contact prediction result, a softening control instruction is sent to a joint driver in the potential contact area through a rapid instruction channel independent of a conventional trajectory position control process, so that the joint is adjusted to a low-rigidity state from a high-rigidity state within a preset response time. The problems of safety risks and equipment damage possibly caused by accidental contact between the humanoid robot and the outside when the humanoid robot executes a high-precision assembly task in a high-rigidity control state are solved, and the technical problem that an existing safety protection mechanism lags in response is solved.

The invention discloses a biped robot knee joint self-adaptive locking device which comprises a rotary joint module, a sliding locking module and a sensing control module, the sliding locking module comprises an electromagnetic lock, a sliding sleeve, a reset spring, a locking sliding block, a linear guide rail and a connecting block, and the sliding sleeve is connected with the electromagnetic lock; the locking sliding block is installed on the sliding sleeve through the reset spring, the electromagnetic lock and the linear guide rail are fixed to the connecting block through bolts, the sliding sleeve is installed on the linear guide rail, and the sliding sleeve and the linear guide rail form a sliding pair. By means of the ingenious mechanical structure design, in combination with a gait phase recognition control method following a natural biped walking mode, rigid locking of the knee joint in a standing phase and flexible releasing of the knee joint in a swinging phase are achieved in a proper walking stage, and the locking mechanism has the advantages of being light in weight, low in power consumption and rapid in response; compared with an existing hydraulic locking scheme, the hydraulic locking device is simpler in structure, free of complex hydraulic pipelines and driving systems, smaller in overall size and lighter in mass.

A method and system (200) for determining an elastic characteristic of an industrial robot (100) including a plurality of interconnecting shafts including at least one shaft exhibiting elasticity and at least one joint exhibiting static friction. The method comprises: (S12) clamping an end flange (16) of the industrial robot (100) to the flexible clamping device (1); (S15) determining and loading a program into a robot controller of the industrial robot (100), the program defining a clamping deflection motion that produces deflection of one or more links of the industrial robot (100) based on a force interaction between the robot (100) and the flexible clamping device (1); (S16) controlling the industrial robot (100) to perform a clamping deflection motion while sensing a quantity of the industrial robot (100) and a quantity of the flexible clamping device (1); (S17) determining a reduced data set of the sensing measurements of the industrial robot (100) and the flexible clamping device (1) by excluding data of the sensing measurements that may comprise the influence of static friction; (S18) determining the relative attitude and force / torque between the top plate (2) and the base plate (3) of the flexible clamping device (1); and (S19) determining kinetic friction characteristics of the at least one joint exhibiting static friction and elastic characteristics of the at least one shaft exhibiting elasticity, and (S21) updating one or more of the at least one model of the industrial robot (100) with the determined kinetic friction characteristics and elastic characteristics, wherein the updated one or more in the at least one model provides elastic characteristics of the industrial robot (100) and related dynamics forming a scenario for using the parameters to improve control of the industrial robot (100).

The application relates to the technical field of underwater bionic robots, solves the technical problems that a traditional snake-shaped robot cannot autonomously adapt to environmental changes, optimize motion performance and intelligently coordinate multiple propulsion modes, and particularly relates to an underwater bionic snake-shaped robot and a hybrid adaptive control method thereof, which comprises a snake-shaped robot composed of a snake body assembly, a snake head assembly and a jet propulsion module; control instructions for each electric joint and control instructions for the jet propulsion module are output by using a reinforcement learning intelligent agent according to real-time environmental perception and robot state feedback. The control of the electric joint can be adjusting the parameters of the central pattern generator to generate the expected joint angle, or directly outputting the expected driving torque of each electric joint. The snake-shaped robot provided by the application is suitable for pipeline inspection, underwater detection and other tasks, the modular design reduces the manufacturing cost and maintenance difficulty, and the advanced control method improves the intelligent level of the robot.

The invention discloses a hydraulic drive double-joint flexible mechanical arm structure. The mechanical arm mainly structurally comprises a mechanical arm body formed by connecting two sets of flexible joint modules in series, each set of joint module comprises three silica gel flexible actuators which are evenly distributed on the circumference, the two ends of each actuator are detachably connected with a supporting disc through a cross beam structure, and sealing rings are arranged at the connecting positions for sealing. The driving system drives the actuators to stretch out and draw back in the axial direction by independently controlling the internal water pressure of the actuators so as to achieve multi-degree-of-freedom movement. In order to restrain radial expansion caused by water pressure, the executors are sleeved with chinlon woven sleeves to serve as restraint layers, and limiting piece structures are arranged between the executors. Through the modular series design and the optimized water pressure driving and radial constraint structure, the adaptability, the movement performance, the sealing reliability and the anti-interference capacity of the mechanical arm are effectively improved, and the mechanical arm is suitable for operation in complex environments such as underwater environments.

The invention discloses a cooperative robot joint adaptive control system and method based on multi-sensor fusion, and relates to the technical field of robot joint control. According to the invention, through an improved extended Kalman filtering and deep neural network compensation mechanism integrated by the multi-source data fusion unit, sensor noise is effectively suppressed, and multi-source data conflicts are solved; the sensor reliability evaluation unit is based on a dynamic weight distribution mechanism of Bayesian reasoning, and can reduce the fusion weight of the sensor in real time when the sensor is detected to be abnormal, and improve the contribution degree of reliable sensor data. The adaptive control unit is combined with the self-learning optimization unit to form a closed-loop optimization architecture, so that the performance limitation caused by fixed traditional PID parameters is thoroughly solved; through adaptive weighted fusion of multi-source sensor data, the joint state estimation precision is improved; and a deep neural network residual error compensation mechanism is utilized to reduce a torque control steady-state error.

The invention discloses a quasi-passive knee joint exoskeleton and a design method thereof, the knee joint exoskeleton comprises a transmission energy storage module, a power-assisted regulation and control module and a wearing module, and the power-assisted state is switched according to the gait stage of a human body. The transmission energy storage module transmits joint torque through an input gear, an intermediate gear and an output gear, and a pressing rod on an output shaft is used for driving a flexible hinge to deform, so that efficient energy storage and release in a small space are realized; the assistance regulation and control module controls a cam shaft to rotate, drives a swing shaft to push an intermediate gear to move and enables the gears to be meshed in the supporting phase, motion limiting is formed through contour matching of a cam shaft body and a swing shaft matching cambered surface, mechanical self-locking is achieved, locking force does not need to be additionally provided, and walking assistance is achieved. In the swing phase, the camshaft is controlled to rotate to enable the unlocking cambered surface to turn to the swing shaft, the swing shaft is unlocked, a driving pin of the camshaft drives the swing shaft to rotate, the gear is disengaged, and free swing is achieved. Compared with the prior art, the invention has the advantages of light weight and low power consumption.

The invention provides a robot neck device and a humanoid robot. The robot neck device comprises a neck movement unit and a control unit. The neck movement unit is used for being connected with the robot head and the robot body and can rotate in the axial direction parallel to the first direction, the second direction and the third direction so as to drive the robot head to rotate in the axial direction parallel to the first direction, the second direction and the third direction. The control unit is used for controlling the rotation angle range of the neck movement unit in the axial direction parallel to the first direction to be a first preset angle range and controlling the rotation angle range of the neck movement unit in the axial direction parallel to the second direction to be a second preset angle range. The rotation angle range of the neck movement unit in the axial direction parallel to the third direction is a third preset angle range. The rotation angle range of at least one degree of freedom of the robot head can be adjusted.

The invention discloses a bionic rope-driven finger, which adopts single tendon rope drive to be matched with a movement coupling transmission rod, and solves the technical problems that the number of tendon ropes of the existing rope-driven finger is large, and multi-joint coordinated movement is difficult. The finger comprises a near-end knuckle, a middle knuckle and a far-end knuckle which are hinged in sequence, and the whole finger can be driven to bend through a tendon rope anchored to the far-end knuckle. The tendon rope is connected to the near-end knuckles and the far-end knuckles in a pivoted mode through the movement coupling transmission rods arranged on the spanning middle knuckles, and when the tendon rope pulls the far-end knuckles to bend, the movement coupling transmission rods mechanically transmit movement to the near-end knuckles, so that the two knuckles automatically form a coordinated bending proportion, and the natural movement mode of human fingers is simulated. The elastic restoring element provides stretching restoring force when the tendon rope is loosened, so that the fingers automatically return to the straightened state, and bidirectional movement control is achieved through the single tendon rope. According to the scheme, the tendon rope layout is simplified, the assembling efficiency and reliability are improved, and stable grabbing is achieved.

The invention provides a hyper-redundant multistable variable-torque robot which comprises a mechanical arm, the mechanical arm comprises N connecting pieces which are distributed in the Z direction and hinged in sequence, and the first connecting piece is fixed to a base; each joint is formed between every two adjacent connecting pieces, each joint can form a self-locking state and an unlocking state, and in the unlocking state, every two adjacent connecting pieces can rotate relatively under the action of the driving rope; the pair of driving ropes are used for controlling the rigidity and the shape of the mechanical arm, the pair of driving ropes can move in the Z direction, the moving directions are opposite, the pair of driving ropes are located on the two sides of the center line of the connecting pieces, one end of each driving rope is connected with the corresponding first driving unit, the driving ropes sequentially penetrate through the first connecting piece to the (N-1) th connecting piece, and the other end of each driving rope is connected with the corresponding second driving unit. The other end of the connecting piece is fixed with the Nth connecting piece; the first driving unit is arranged on the base. A plurality of steady-state positions can be achieved, and the stable-state self-locking function, the locking and releasing function and the joint torque adjusting function are achieved.

The invention discloses a humanoid robot joint motor control method with model prediction control, and relates to the technical field of robot motion control. The method is used for solving the problems of control instruction infeasibility and model disturbance caused by voltage saturation during high-speed motion. An error state space model of a joint motor system is established, and non-linear terms such as gravity are used as nominal feed-forward quantities for stripping; then, the rotating speed of the motor and the bus voltage of the driver are collected in real time, the back electromotive force is calculated, and the voltage margin is mapped into a dynamic torque physical limit value at the current moment; and meanwhile, estimating an unmodeled lumped disturbance value of the model by using an extended state observer. And finally, taking the dynamic limit as a real-time inequality constraint, introducing a disturbance value correction prediction equation, constructing and solving a quadratic programming problem, extracting an optimal compensation torque, superposing the optimal compensation torque with an inverse dynamic feedforward torque, and converting the superposed torque into a current signal to drive a motor, thereby realizing high-dynamic and high-precision robust control under the physical boundary constraint.

A method of operating a robot includes operating a robot that includes a body assembly that includes a frame formed of at least one body joint assembly, and at least one pair of joint linear actuators that form the at least one body joint. The method further includes controlling the at least one pair of joint linear actuators to operate in combination to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation.

The invention relates to the technical field of robot end executors, in particular to a bionic flexible self-adaptive dexterous hand and a control method.The dexterous hand comprises a palm, bionic fingers, a driving assembly, a reset assembly and a sensing system, the bionic fingers comprise knuckles connected in series through joint mechanisms, and the bionic fingers are movably connected with the palm through finger root joints; a non-Newtonian fluid core-shell structure is arranged on the finger pulp side and comprises a flexible sealing shell and a non-Newtonian fluid inner core filled in the flexible sealing shell, the driving assembly drives the fingers to bend through tendon rope retracting and releasing, the reset assembly enables the fingers to recover stretching after driving force is relieved, and the sensing system integrates a flexible sensor to feed back the grabbing state in real time. The non-Newtonian fluid slowly flows under pressure, so that the flexible shell perfectly fits the outline of an object, the contact area and friction force are greatly increased, creep deformation is resisted due to high internal energy consumption, and the irregular and smooth object is stably grabbed.

The invention relates to the technical field of robots, in particular to a joint module and a robot, and solves the problem that the axial size of the joint module is large and cannot meet user requirements. The joint module comprises a fixing assembly, a motor assembly, a first-stage sun gear, a plurality of first-stage planet gears, a first-stage planet carrier, a second-stage sun gear, a plurality of second-stage planet gears and a second-stage planet carrier. The fixing assembly comprises an inner gear ring. The inner gear ring, the first-stage sun gear, the multiple first-stage planet gears and the first-stage planet carrier form a first-stage speed reduction structure, and the inner gear ring, the second-stage sun gear, the multiple second-stage planet gears and the second-stage planet carrier form a second-stage speed reduction structure. The motor assembly is arranged on the outer ring of the inner gear ring in a sleeving mode, that is, the first-stage speed reduction structure and the second-stage speed reduction structure are both embedded in the inner ring of the motor assembly, and the axial size of the joint module is reduced.

A modular passive-to-active exoskeleton system utilizes motor unit modules, an electromagnetic-clutch power transmission system, and biometric control. The passive exoskeleton has a stamina-increasing “chairless chair” function and optional use of magnetic ball-and-socket joints and knee torsion springs. To convert the exoskeleton system into an active robotic wearable device, modular attachments allow for motor units to be securely connected to the exoskeletal frame. An exoskeleton system may contain a knee motor unit that has a transmission system with an electromagnetic clutch that enables a passive mode, active mode, and / or hybrid mode. The motor units are controlled using wireless biometric motion sensors that measure limb joint angle and muscle activity. These motor units also communicate via wireless transmission with a central processing unit of the exoskeleton. This central processing unit serves as a gateway for user feedback from an Internet-of-Things (IoT) device, such as a smartphone, tablet, computer, etc.

According to an aspect of the disclosure, a robot arm gripper device includes a grip unit capable of gripping an object by a hinge movement, a power transmission unit coupled to the grip unit and transmitting power to the grip unit, and a buffer unit having one side connected to the power transmission unit and another side connected to a robot arm body, wherein the power transmission unit is movable on the buffer unit.