A robot hand system including a fingertip sensor and a control method thereof

Abstract

A control method of a robot hand system can include: a controller moving a robot hand including a plurality of fingers toward an object; the controller determining whether a tip sensor included in the plurality of fingers is in contact with the object; the controller controlling the plurality of fingers until a grasping force of a target finger corresponding to a thumb among the plurality of fingers reaches a target force; and when the grasping force of the target finger reaches the target force, the controller performing a grasping operation, wherein the performing the grasping operation can include a first grasping mode in which a force with which the plurality of fingers are in contact with the object is balanced by controlling the robot hand, or a second grasping mode in which a sum of moments of forces with which the plurality of fingers grasp the object does not exceed a critical moment of force by controlling the robot hand.

Description

Technical Field

[0001] This disclosure relates to a robotic hand system including a fingertip sensor and a control method for the robotic hand system. Background Technology

[0002] Conventional multidimensional force / torque sensors employ strain gauge technology. In strain gauge sensors, the strain caused by the force applied to the sensor is converted into a change in resistance, and the force applied to the sensor is measured by measuring the change in resistance. However, because this type of strain gauge sensor requires manual attachment of the strain gauge to the sensor, miniaturization is difficult, and the manufacturing process is time-consuming. Furthermore, since the strain gauge requires a separate amplifier external to the sensor for acquiring the electrical signal, it is difficult to apply to the fingertips of robotic hands where space is limited.

[0003] The information described above in the background section is intended only to enhance understanding of the background of this invention and may therefore include information that does not constitute prior art. Summary of the Invention

[0004] Technical issues

[0005] The robot hand system and robot hand system control method according to the embodiments of this disclosure can solve the above-mentioned technical problems and provide a control method that can more stably grasp objects by using a fingertip sensor that can be applied to the robot's fingertips.

[0006] However, the technical problems to be solved by the present invention are not limited to the above-mentioned technical problems. Those skilled in the art can clearly understand other technical problems not mentioned in the following description of the invention.

[0007] Technical solution

[0008] A control method for a robotic hand system according to an embodiment of this disclosure may include: a controller causing a robotic hand comprising a plurality of fingers to move toward an object; the controller determining whether a tip sensor of the plurality of fingers is in contact with the object; the controller controlling the plurality of fingers until the grasping force of a target finger corresponding to the thumb among the plurality of fingers reaches a target force; and when the grasping force of the target finger reaches the target force, the controller performing a grasping operation, wherein the step of performing the grasping operation may include a first grasping mode or a second grasping mode, wherein in the first grasping mode, the forces of the plurality of fingers in contact with the object are balanced by controlling the robotic hand, and in the second grasping mode, the sum of the torques of the plurality of fingers grasping the object does not exceed a critical torque by controlling the robotic hand.

[0009] In the first grasping mode, the controller can move the robot hand so that the target finger and the other fingers are located on different sides of the object, and the controller can control the position of the target finger so that the grasping force of the target finger and the other fingers is balanced.

[0010] In the second grasping mode, the controller can determine whether the sum of the torques of the plurality of fingers meets the critical torque by lifting the object upwards with the plurality of fingers in the grasping state.

[0011] When the sum of the torques of the plurality of fingers does not meet the critical torque, the controller can measure the center of gravity of the object based on the forces and torques detected by the tip sensors of the plurality of fingers, and move the plurality of fingers toward the center of gravity of the object.

[0012] The controller can move the plurality of fingers so that the center of the grasping point of the plurality of fingers in contact with the object corresponds to the center of gravity of the object.

[0013] A robotic hand system according to an embodiment of this disclosure may include: a robotic hand comprising a plurality of fingers; and a controller that controls the grasping operation of the robotic hand, wherein the plurality of fingers includes a tip and a tip sensor, the tip contacts an object, the tip sensor is included in the tip and measures the force and torque of the fingers grasping the object, the controller controls the plurality of fingers until the grasping force of a target finger corresponding to the thumb among the plurality of fingers reaches a target force, and performs a grasping operation when the grasping force of the target finger reaches the target force, the controller is capable of controlling the robotic hand in a first grasping mode or a second grasping mode, in the first grasping mode, by controlling the robotic hand to balance the forces of the plurality of fingers in contact with the object, and in the second grasping mode, by controlling the robotic hand to ensure that the sum of the torques of the plurality of fingers grasping the object does not exceed a critical torque.

[0014] In the first grasping mode, the controller can move the robot hand so that the target finger and the other fingers are located on different sides of the object, and the controller can control the position of the target finger so that the grasping force of the target finger and the other fingers is balanced.

[0015] In the second grasping mode, the controller can determine whether the sum of the torques of the plurality of fingers meets the critical torque by lifting the object upwards with the plurality of fingers in the grasping state.

[0016] When the sum of the torques of the plurality of fingers does not meet the critical torque, the controller can measure the center of gravity of the object based on the forces and torques detected by the tip sensors of the plurality of fingers, and move the plurality of fingers toward the center of gravity of the object.

[0017] The controller can move the plurality of fingers so that the center of the grasping point of the plurality of fingers in contact with the object corresponds to the center of gravity of the object.

[0018] Beneficial effects

[0019] The robot hand system and robot hand system control method according to the embodiments of this disclosure can grasp objects more stably by controlling the grasping force or grasping torque.

[0020] However, the effects of the present invention are not limited to those described above, and those skilled in the art will clearly understand other technical effects not mentioned in the following description of the present invention. Attached Figure Description

[0021] The accompanying drawings in this specification exemplify embodiments of the invention, which, together with the following description of the invention, help to understand the technical concept of the invention. The invention should not be interpreted in a way that limits it to the contents shown in the drawings.

[0022] Figure 1 A robotic hand system including a robotic hand is shown according to an embodiment of the present disclosure.

[0023] Figure 2 Another robotic hand system according to an embodiment of this disclosure is shown.

[0024] Figure 3 A robotic hand is shown according to an embodiment of this disclosure.

[0025] Figure 4 A robot hand and controller according to an embodiment of the present disclosure are illustrated schematically.

[0026] Figure 5 A portion of a finger is shown according to an embodiment of this disclosure.

[0027] Figure 6 Show Figure 5 The cross section.

[0028] Figure 7 An exploded perspective view of the tip of a finger according to an embodiment of the present disclosure is shown.

[0029] Figure 8 A cross-section of the tip is shown according to an embodiment of the present disclosure.

[0030] Figure 9 A tip sensor according to an embodiment of this disclosure is shown.

[0031] Figure 10 An exploded perspective view of a tip sensor according to an embodiment of the present disclosure is shown.

[0032] Figure 11 A cross-section of a tip sensor according to an embodiment of the present disclosure is shown.

[0033] Figure 12 An exploded perspective view of the tip of a finger according to an embodiment of the present disclosure is shown.

[0034] Figures 13 to 18 This illustration shows the operation of a robotic hand grasping an object according to an embodiment of the present disclosure.

[0035] Figure 19 and Figure 20 A robot hand control method according to an embodiment of the present disclosure is shown.

[0036] Best mode

[0037] A control method for a robotic hand system according to an embodiment of this disclosure may include: a controller causing a robotic hand comprising a plurality of fingers to move toward an object; the controller determining whether a tip sensor of the plurality of fingers is in contact with the object; the controller controlling the plurality of fingers until the grasping force of a target finger corresponding to the thumb among the plurality of fingers reaches a target force; and when the grasping force of the target finger reaches the target force, the controller performing a grasping operation, wherein the step of performing the grasping operation may include a first grasping mode or a second grasping mode, wherein in the first grasping mode, the forces of the plurality of fingers in contact with the object are balanced by controlling the robotic hand, and in the second grasping mode, the sum of the torques of the plurality of fingers grasping the object does not exceed a critical torque by controlling the robotic hand. Detailed Implementation

[0038] Embodiments of this disclosure can be understood by referring to the detailed description and accompanying drawings of the invention. The embodiments described in this specification may have various modifications and be implemented in other forms, and are not limited to the embodiments described herein. Furthermore, features of the various embodiments of this disclosure may be combined in whole or in part. Each embodiment may be implemented independently or in combination with each other. The described embodiments are provided as examples to achieve the completeness of this disclosure and to fully describe the technical concepts of this disclosure to those skilled in the art. This disclosure may be substituted with all modified embodiments, equivalents, technical concepts, and within the scope of the art. Therefore, for a complete understanding of the embodiments of this disclosure, processes, elements, and techniques unnecessary to those skilled in the art may not be described.

[0039] The same reference numerals and characters, or combinations thereof, refer to the same constituent elements, therefore redundant descriptions are omitted unless otherwise stated in the drawings and the overall specification. Furthermore, for the sake of clarity, parts unrelated to the description have been omitted.

[0040] The relative dimensions of elements, layers, and regions in the accompanying drawings may be enlarged to make them clearer. Shaded lines and / or highlights in the accompanying drawings are generally used to clearly indicate the boundaries between adjacent elements. Therefore, the presence or absence of shaded lines and / or highlights does not indicate a preferred form or requirement for a particular material, material properties, dimensions, scale, commonalities among elements in the accompanying drawings, and / or other characteristics, attributes, or properties of an unspecified element.

[0041] In this specification, various embodiments may be described with reference to cross-sectional view examples, which are schematic examples of embodiments and / or intermediate structures. The shapes in the figures may vary due to factors such as manufacturing techniques and / or tolerances. Furthermore, the specific structural or functional descriptions disclosed in this specification are for illustrative purposes only. Therefore, the embodiments disclosed in this specification should not be construed as being limited to the shapes of the illustrated areas; for example, they may include shape deviations caused by the manufacturing process.

[0042] The areas shown in the accompanying drawings are schematic and their shapes are not intended to illustrate or limit the actual shape of the device area. Furthermore, as will be understood by those skilled in the art, various modifications can be made to the described embodiments without departing from the technical concept or scope of this disclosure.

[0043] Various specific details are provided in this specification to provide a complete understanding of the various embodiments. However, the various embodiments may be implemented without the presence of specific specific details or by including at least one specific specific detail. Alternatively, known structures or devices can be illustrated in block diagram form to avoid unnecessarily obscuring the various embodiments.

[0044] As illustrated in the accompanying drawings, for ease of description, spatially relative terms such as "down," "up," "below," and "above" will be used to describe the relationship between one element or feature and other elements or features. These spatially relative terms are intended to encompass the orientations shown in the drawings and the various orientations of the equipment being used or operated. For example, if the equipment in the drawings is inverted, other elements or features described as "down" or "below" are oriented "above" of other elements or features. Therefore, as exemplary terms, "down" and "below" can both include "up" and "below." The equipment may be oriented in other directions (e.g., rotated 90 degrees or oriented in other directions), and the spatially relative descriptions used in this specification should be interpreted accordingly. Similarly, if the first part is said to be "above" the second part, it means that the first part is located above or below the second part.

[0045] Furthermore, the expression "viewed on a plane" refers to viewing an object from above, while "in a schematic sectional view" refers to obtaining a schematic sectional view by cutting the object perpendicularly. The term "viewed from the side" means that the first object can be located above, below, or to the side of the second object, or vice versa. Additionally, the terms "overlapping" or "superimposed" can include layers, stacked layers, surfaces, extensions, covers, or partial covers, or any other suitable terms understood and comprehended by a person skilled in the art. The expression "not overlapping" can include meanings such as "from ~ away" or "from ~ separated," and any other suitable equivalents recognized and understood by a person skilled in the art. The terms "surface" and "surface" can refer to the first object being directly or indirectly opposite the second object. When a third object is located between the first and second objects, it can be understood that the first and second objects are facing each other but indirectly opposite each other.

[0046] When describing an element, layer, region, or constituent element (hereinafter referred to as "element, etc.") as "formed on," "connected to," or "bonded to" other elements, it may indicate that it is directly or indirectly "formed on," "connected to," or "bonded to" other elements, layers, regions, or constituent elements. Furthermore, it may include direct or indirect bonding or connection of elements, etc., or integral or non-integral bonding or connection, to indicate the presence of one or more elements, etc. For example, when describing an element, etc. as "electrically connected" or "electrically bonded" to other elements, etc., it indicates a direct connection or bond to the other elements, etc., or the presence of the other elements, etc. However, "direct connection" or "direct bond" means that, in the absence of intermediate constituent elements, etc., an element, etc., is directly connected to or bonded to other elements, etc., or is located on other elements, etc. Furthermore, in this specification, when a part of a layer, film, region, plate, etc., is formed on other parts, the forming direction is not limited to the top, but includes cases where the part is formed on the side or bottom. Conversely, when a part of a layer, membrane, region, plate, etc., is formed "below" other parts, this includes not only the part being "directly below" other parts, but also the situation where there is another part between that part and the other part. Furthermore, other expressions describing the relationship between constituent elements, such as "between," "directly between," "adjacent to," and "directly adjacent to," can also be interpreted with similar meanings. Additionally, when describing an element or layer as being "between" two elements or layers, it can mean that there is a unique element between the two elements or layers, or that there are other elements between them.

[0047] For the purposes of this specification, expressions such as "at least one" or "any one" do not limit the order of individual elements. For example, "at least one of X, Y, and Z," "at least one of X, Y, or Z," and "at least one selected from the group consisting of X, Y, and Z" can include individual X, individual Y, individual Z, or any combination of two or more items from X, Y, and Z. Similarly, expressions such as "at least one of A and B" and "at least one of A or B" can include A, B, or A and B. In this specification, the term "or" generally means "and / or," and the term "and / or" generally includes all combinations of at least one related list item. For example, expressions such as "A and / or B" can include A, B, or A and B.

[0048] The terms "first," "second," "third," etc., may be used in this application to describe various elements, constituent elements, regions, layers, and / or sections, but these elements, constituent elements, regions, layers, and / or sections are not limited by these terms. These terms are used to distinguish elements, constituent elements, regions, layers, or sections from other elements, constituent elements, regions, layers, or sections. Therefore, the first element, constituent element, region, layer, or section described below may be referred to as the second element, constituent element, region, layer, or section without departing from the technical concept and scope of the invention. Describing an element as a "first" element may not require or imply the existence of a second element or other elements. In this specification, the terms "first," "second," etc., are used to distinguish different categories or sets of elements. For clarity, the terms "first," "second," etc., may respectively represent "first category (or first set)," "second category (or second set)," etc.

[0049] The terminology used in this application is for describing specific embodiments only and is not intended to limit the invention. As used herein, singular expressions include plural expressions, and plural expressions include singular expressions, unless the context clearly indicates otherwise. The terms "comprising," "having," and "possessing" designate the presence of features, integers, and steps specified herein. These expressions do not preclude the presence or addition of at least one other function, step, operation, constituent element, and / or combination thereof.

[0050] When at least one embodiment can be implemented in different forms, a particular process can be performed in a different order. For example, two processes described consecutively can be performed virtually simultaneously, or in the reverse order.

[0051] The terms “substantially,” “about,” “approximately,” and similar terms are used as approximate terms, not terms of degree, and are used to describe the inherent deviation of a measured or calculated value. The value is recognizable by a person skilled in the art. As used in this specification, “about” or “approximately” includes the mentioned value and indicates that the value is within an acceptable range of deviation (e.g., the range of deviation due to limitations of the measurement system) determined by a person skilled in the art, taking into account measurement and related errors. For example, “about” may refer to at least one standard deviation or a range of ±30%, ±20%, ±10%, or ±5% of the specified value.

[0052] Any term used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art, unless otherwise defined. Terms such as those defined in common dictionaries shall be interpreted as having the same meaning as in the relevant technical and / or the context of this specification, and shall not be idealized or interpreted as having an overly formal meaning, unless expressly defined herein.

[0053] Figure 1 A robotic hand system 1 including a robotic hand 10 is shown. Figure 2 Another robotic hand system 1 is shown. Figure 3 Showing robot hand 10, Figure 4 The robot hand 10 and controller 20 are schematically shown. Figure 5 Showing a portion of finger 200, Figure 6 Show Figure 5 The cross section, Figure 7 An exploded perspective view of the tip 223 of finger 200 is shown. Figure 8 The cross-section of tip 223 is shown. Figure 9 The tip sensor 400 is shown. Figure 10 An exploded perspective view of the tip sensor 400 is shown. Figure 11 A cross-section of the tip sensor 400 is shown. Figure 12 An exploded perspective view of the tip 223 of finger 200 is shown. Figures 13 to 18 This illustrates the operation of the robotic hand 10 grasping an object.

[0054] The robotic hand system 1 can perform various work operations, such as grasping and moving objects, or grinding, milling, assembling, and welding objects. The robotic hand system 1 may include a robotic hand 10, a controller 20, and a platform 30. The robotic hand 10 can be connected to the controller 20 and the platform 30, and receives control signals from the controller 20 to move towards the object and perform work operations. For example, ... Figure 1As shown, the robot hand 10 can be mounted on the end of the platform 30. If the controller 20 sends a grasping signal to the robot hand 10 and the platform 30, the platform 30 can cause the robot hand 10 to move toward the object and grasp it.

[0055] Or, such as Figure 2 As shown, the robotic hand system 1 may include a mobile robot that serves as a platform 30 for mounting the robotic hand 10. The robotic hand 10 may be mounted on the end effector of a walking robot. The platform 30 shown in the figure is a bipedal walking robot, but it could also be a quadrupedal walking robot. Alternatively, the platform 30 may be in the form of a trolley, such as an Automated Guided Vehicle (AGV). The robotic hand 10 mounted on the platform 30 can be controlled via a wired or wireless connection to a controller 20.

[0056] The robotic hand 10 may include a housing 100, fingers 200, and a drive unit 300.

[0057] The housing 100 can accommodate and / or support other components of the robotic hand 10 (e.g., fingers 200 and drive unit 300). The housing 100 can protect the fingers 200 and drive unit 300 from external impacts or foreign objects. For example, as... Figure 3 As shown, the housing 100 may surround the drive unit 300, and may surround the connection portion between the drive unit 300 and the finger 200, or at least a portion of the finger 200. A cable connecting the drive unit 300 and the controller 20, or connecting the drive unit 300 and the power supply, may be led out from the housing 100 and connected to the controller 20 or the power supply.

[0058] The housing 100 may correspond to the palm, back of hand, and / or wrist of the robotic hand 10. For example, the face of the housing 100 located in the bending direction of the plurality of fingers 200 (e.g., Figure 3 The first surface of the housing 100 located on the front can correspond to the palm of the robotic hand 10. In addition, the surface of the housing 100 located in the direction in which the plurality of fingers 200 are extended (e.g., the second surface) can correspond to the back of the robotic hand 10.

[0059] As a component capable of directly performing work operations (e.g., grasping objects), fingers 200 may include a plurality of fingers 200. For example, the robotic hand 10 may include a structure similar to a human hand and may include five fingers 200 corresponding to the five fingers of a human. For example, as Figure 3 As shown, the fingers 200 may include a first finger 201, a second finger 202, a third finger 203, a fourth finger 204, and a fifth finger 205, which may correspond to the thumb, index finger, middle finger, ring finger, and little finger, respectively.

[0060] Alternatively, the fingers 200 may comprise a plurality of fingers 200 that move in different directions. For example, some of the plurality of fingers 200 may bend downward toward the first surface of the housing 100 (or the surface corresponding to the palm in the housing 100), while others may bend upward toward the first surface of the housing 100. For example, among the plurality of fingers 200, all but one may move in the same direction, and the remaining finger 200 may move in a different direction. For example, the second finger 202, the third finger 203, the fourth finger 204, and the fifth finger 205 may bend downward, while the first finger 201 may bend upward. Thus, at least some of the plurality of fingers 200 may move in different directions relative to each other, thereby enabling a more stable grasp of objects.

[0061] Alternatively, the fingers 200 may include a plurality of fingers 200 extending from different portions of the housing 100. For example, as Figure 3 As shown, a portion of the plurality of fingers 200 may extend from above the housing 100 along the height direction of the housing 100, and the remaining portion may extend from the first surface of the housing 100 in a direction intersecting the height direction of the housing 100. For example, among the plurality of fingers 200, all but one may extend from above the housing 100 along the height direction of the housing 100, and the remaining finger 200 may extend from the first surface of the housing 100. For example, the second finger 202, the third finger 203, the fourth finger 204, and the fifth finger 205 may extend from above the housing 100 along the height direction of the housing 100, and the first finger 201 may extend from the first surface of the housing 100 in a direction intersecting the height direction of the housing 100.

[0062] In this specification, "finger 200 corresponding to the thumb" can refer to the first finger 201 corresponding to the thumb when the finger 200 includes the five fingers 200 corresponding to the five fingers of a person. Alternatively, when the finger 200 includes a plurality of fingers 200 that move in different directions, "finger 200 corresponding to the thumb" can refer to any finger 200 that moves in a direction different from the other fingers 200. Alternatively, when the finger 200 includes a plurality of fingers 200 extending from different positions of the housing 100, "finger 200 corresponding to the thumb" can refer to the other fingers 200 and any finger 200 extending from other parts of the housing 100.

[0063] Each finger 200 can be connected to the drive unit 300, and when the drive unit 300 is operated, each finger 200 can bend or straighten around a joint to grasp an object. For example, each finger 200 may include one or more joints and be individually connected to the drive unit 300, thereby operating with different torques.

[0064] The finger 200 may include a support frame 210, a joint 220, and a cylinder 230.

[0065] The support frame 210 can accommodate and / or support other components of the finger 200 (e.g., joint 220 and cylinder 230). For example, as Figure 5 As shown, the support frame 210 can support at least a portion of the joint 220 and the cylinder 230, and can be located on the outside of the finger 200 (e.g., Figure 6 (The left side). For example, as Figure 5 As shown, the first cylinder 231 and the second cylinder 232 of the cylinder body 230 can be inserted into the support frame 210. For example, when the two first cylinders 231 and the one second cylinder 232 are inserted into the support frame 210, each block comprising the two first cylinders 231 and the one second cylinder 232 can slide relative to the support frame 210 and move up and down along the height direction of the support frame 210. Thus, the finger 200 can be bent or straightened by the operation of the first cylinders 231 and the second cylinders 232.

[0066] For example, the support frame 210 may include a support member 211, a support plate 212, and a lifting area 213. Figure 6 As shown, the support member 211 can support other components of the support frame 210 (e.g., support plate 212 and lifting area 213), and the lifting area 213 can be defined between the support member 211 and the support plate 212. A finger 200 can be formed on the outer side of the support member 211. The support plate 212 can be connected to one side of the support member 211, and the other side can be connected to the joint 220. The support plate 212 can extend vertically relative to the support member 211. A cylinder 230 is inserted into the support plate 212, and the lifting area 213 is formed between the upper surface of the support plate 212 and the inner surface of the support member 211. The block of the cylinder 230 can move up and down within the lifting area 213. Apart from the support member 211 and the support plate 212, the lifting area 213 is not obstructed by other components, therefore, it does not interfere with other components of the finger 200 when the cylinder 230 moves up and down or when the joint 220 bends or straightens.

[0067] Joint 220 can be connected to cylinder 230. When cylinder 230 moves due to drive unit 300, joint 220 can bend or straighten, thereby directly grasping objects or performing work operations. Joint 220 can correspond to the finger joints of robot hand 10. For example, joint 220 can support and connect to support frame 210 and cylinder 230.

[0068] The joint 220 may include a cover 221, a link 222, and a tip 223.

[0069] The cover 221 can surround at least a portion of the link 222 and can move together with the link 222. For example, when the robotic hand 10 grasps an object, the cover 221 can reduce the portion of the link 222 that directly interferes with the object or the external environment, thereby preventing damage to the link 222 and preventing foreign objects from entering the link 222. For example, as... Figure 5 As shown, the cover 221 is a shell surrounding the link 222. The cover 221 can be segmented into a plurality of segments so that it moves together with the link 222. For example, the cover 221 can be segmented in the same number as the number of finger joints included in the finger 200 (e.g., 2 or 3). The cover 221 may include a deformable elastic material (e.g., rubber, silicone, etc.).

[0070] Link 222 can be connected to cylinder 230, and when cylinder 230 moves due to drive 300, link 222 can translate and / or rotate to grasp an object. For example, at least a portion of link 222 can be located within cover 221 and between tip 223 and cylinder 230. Link 222 can correspond to a joint of finger 200.

[0071] Link 222 may include a first link 2221, a second link 2222, and a third link 2223.

[0072] The first link 2221 can be connected to the first cylinder 231 and the third link 2223. For example, the first link 2221 can be provided in the same number as the first cylinder 231 (e.g., two), and its lower end can be connected to the first cylinder 231 respectively. Furthermore, the upper end of the first link 2221 can be connected to any one of the plurality of third links 2223. When the first cylinder 231 is raised or lowered, the first link 2221 moves and / or rotates with it, thereby causing the third link 2223 to move.

[0073] The second link 2222 can be connected to the second cylinder 232 and the third link 2223. For example, the second link 2222 can be provided in the same number as the second cylinder 232 (e.g., one), and its lower end can be connected to the second cylinder 232 respectively. In addition, the upper end of the second link 2222 can be connected to any one of the plurality of third links 2223. When the second cylinder 232 is raised or lowered, the second link 2222 moves and / or rotates with it, thereby causing the third link 2223 to move.

[0074] The third link 2223 can be connected to the first link 2221, the second link 2222, and the tip 223, and is moved by the first link 2221 and the second link 2222, simultaneously realizing the operation of the finger 200. For example, as Figure 6 As shown, the third link 2223 can be located within the cover 221 and includes a plurality of third links 2223. The plurality of third links 2223 are rotatably connected to each other, thereby enabling the bending or straightening of the finger 200 to be performed in a manner similar to that of a human finger.

[0075] The tip 223 can be the distal end of the finger 200 and is the part that directly contacts the object. For example, the tip 223 can correspond to the distal joint of the finger to grasp the object, and the grasping state of the robot hand 10 can be detected by measuring the force and torque when the robot hand 10 contacts the object. For example, as Figure 6 As shown, tip 223 can be located at the distal end of finger 200 along its length and is rotatably connected to link 222. Tip 223 may include one or more tip sensors that measure the force and torque applied to tip 223 when finger 200 grasps an object and transmit the measured force and torque to controller 20.

[0076] The tip 223 may include a tip base 2231, a tip plate 2232, a tip cover 2233, and a tip sensor 400.

[0077] The tip base 2231 supports other components of the tip 223 (e.g., tip plate 2232, tip cap 2233, and tip sensor 400) and can be connected to the link 222. If the link 222 moves, the tip base 2231 moves, and the tip plate 2232, tip cap 2233, and tip sensor 400 supported on the tip base 2231 can also move together. For example, as... Figure 7As shown, the tip base 2231 has an L-shaped bend. The lower part of the tip base 2231 can be connected to the connecting rod 222, and the tip sensor 400 can be mounted on its inner surface. The tip base 2231 may comprise a robust material with high rigidity. When the tip 223 contacts an object, the tip base 2231 can support the tip sensor 400, allowing the tip sensor 400 to accurately measure the force and torque generated when grasping the object and preventing the tip sensor 400 from disengaging from its designated position. For example, a plurality of retaining pins P can be inserted into the tip base 2231 and the tip sensor 400, thereby securing the tip sensor 400 to the tip base 2231.

[0078] The tip plate 2232 may be located between the tip cap 2233 and the tip sensor 400, and may surround at least a portion of the tip sensor 400, including the top of the tip sensor 400. For example, as Figure 7 and Figure 8 As shown, the tip plate 2232 can contact the inner side of the tip cover 2233 and can surround the top and part of the side of the tip sensor 400. The shape and size of the tip plate 2232 can correspond to the top of the tip sensor 400. When the tip cover 2233 contacts an object, the tip plate 2232 can transmit force to the displacement portion 411 of the tip sensor 400, thereby improving the sensitivity of the tip sensor 400. In addition, the tip plate 2232 can protect the tip sensor 400 from the impact of the finger 200 on the object or the surrounding environment.

[0079] The tip cap 2233 is detachably mounted to the tip base 2231 and can surround the tip sensor 400 and the tip plate 2232. For example, the tip cap 2233 can include a deformable material such as rubber. When the tip cap 2233 comes into contact with an object and is pressed, the force can be transmitted to the tip sensor 400 through the tip plate 2232, and the tip sensor 400 can detect this.

[0080] A tip sensor 400 may be included in the tip 223, thereby detecting the force and torque generated when the tip 223 applies pressure to an object and transmitting the detected force and torque to the controller 20. Based on the force and torque detected by the tip sensor 400, the controller 20 may determine whether the finger 200 has grasped the object with appropriate force and torque and control the operation of the robot hand 10. For example, the tip sensor 400 may be a capacitive sensor as a multi-axis / torque sensor. Therefore, unlike strain sensors, the capacitive tip sensor 400 can significantly reduce size and weight and can be included inside the tip 223 of the robot hand 10. The lower surface of the tip sensor 400 (e.g., the surface relatively far from the deformable body 411 in the height direction of the tip sensor 400) may be connected to the inner surface of the tip base 2231, and the upper surface of the tip sensor 400 (e.g., the surface relatively close to the deformable body 411 in the height direction of the tip sensor 400) may be opposite to the tip cap 2233. The tip sensor 400 can be connected to the tip base 2231 via the fixing pin P.

[0081] The tip sensor 400 may include a body 410, a substrate 420, and a lower cover 430.

[0082] The body 410 may accommodate and / or support other components of the tip sensor 400 (e.g., substrate 420, lower cover 430). For example, the body 410 may be a hollow cylinder with the substrate 420 located inside it and the lower cover 430 connected below it. A capacitance is formed between the body 410 and the substrate 420, and a first potential may be applied to the body 410. When the substrate 420 is displaced relative to the body 410, the capacitance formed between the substrate 420 and the body 410 also changes, and the tip sensor 400 can measure force and torque accordingly. For example, the first potential may be applied to at least the inner peripheral surface 413 of the body 410, and the inner peripheral surface 413 opposite to the sensing electrode 421 of the substrate 420 may form a sensing region 4131 (see [link to relevant documentation]). Figure 11 The sign of the first potential applied to the body 410 may be opposite to the sign of the second potential applied to the substrate 420. The deformable portion of the body 410 can be connected to the substrate 420. Therefore, when a force is applied to the body 410, the deformable portion of the body 410 moves, and the substrate 420 can move along with it.

[0083] The main body 410 may include a displacement part 411 and a connecting part 412.

[0084] like Figure 9As shown, the displacement portion 411 can be displaceably connected to the fixed portion of the main body 410 via the connecting portion 412. For example, the displacement portion 411 can be coaxial with the center of the main body 410 and can be circular. The connecting portion 412 can be T-shaped and formed in multiples (e.g., four) along the outer edge of the circular displacement portion 411, and can connect the outer peripheral surface of the displacement portion 411 and the fixed portion of the main body 410. The displacement portion 411 can be connected to the substrate 420, so that when a force is applied to the tip cap 2233, the displacement portion 411 can move, and the substrate 420 can also move together.

[0085] The substrate 420 can be connected to the body 410 and includes a communication module that can calculate the force and torque applied to the tip sensor 400 and communicate with external devices. For example, the substrate 420 can be located inside the body 410 and connected to the displacement portion 411. The substrate 420 may include a plurality of sensing electrodes 421. For example, such as... Figure 10 As shown, the substrate 420 can be a cross shape with four protrusions extending towards the inner peripheral surface of the body 410. Sensing electrodes 421 can be formed on the top and side surfaces of the protrusions of the substrate 420, respectively. For example, a plurality of sensing electrodes 421 can be formed on each protrusion in twos, and the sensing electrodes 421 formed on a single protrusion can be spaced apart from each other. For example, the sensing electrodes 421 can include eight sensing electrodes 421. A second potential can be applied to the sensing electrodes 421, forming a capacitance with the body 410. If the displacement portion 411 moves, the substrate 420 also moves, thereby changing the distance between the inner peripheral surface 413 and the sensing electrodes 421, and thus changing the capacitance.

[0086] The sensor 400 may also include a force transmission plate 440.

[0087] For example, such as Figure 12 As shown, the force transmission plate 440 can be connected to the displacement portion 411. The force transmission plate 440 can be located above the main body 410 and can transmit the force applied from the tip cap 2233 to the displacement portion 411. For example, the force transmission plate 440 can be cross-shaped to correspond to the displacement portion 411 and a plurality of connecting portions 412. The size and shape of the force transmission plate 440 correspond to the displacement portion 411 and the connecting portions 412, and can cover the displacement portion 411 and the connecting portions 412. By transmitting the force or torque applied to the tip cap 2233 to the displacement portion 411 and the connecting portions 412, the force transmission plate 440 can improve the sensitivity of the tip sensor 400.

[0088] The finger 200 includes one or more cylinders 230, which can be connected to the drive unit 300 and the joint 220. For example, Figure 5 and Figure 6As shown, one finger 200 may include three cylinders 230, and the lower end of the cylinder 230 may be connected to the drive unit 300, and the upper end may be connected to the joint 220. The cylinders 230 are driven by the drive unit 300, which in turn moves the joint 220, thereby enabling the robotic hand 10 to perform a grasping operation. However, the number of cylinders 230 may vary depending on the size and weight of the robotic hand 10, the grasping force, etc., or each finger 200 may include a different number of cylinders 230. The cylinder 230 may include a cylinder extending along a length direction (e.g., the length direction of the finger 200) and a block that moves up and down along the length direction of the cylinder. For example, the cylinder 230 may be connected to the support frame 210. Each cylinder 230 can move up and down while inserted into the support plate 212. The block included in the cylinder 230 can move up and down within the lifting area, causing the joint 220 to move.

[0089] The cylinder block 230 may include a first cylinder block 231 and a second cylinder block 232.

[0090] For example, such as Figure 5 and Figure 6 As shown, among the plurality of cylinders 230, the first cylinder 231 can be located inside the finger 200 (e.g., Figure 6 The right side of the first cylinder 230 is provided as a pair, and each first cylinder 231 can be connected to the first connecting rod 2221 respectively. In the plurality of cylinders 230, the second cylinder 232 can be located on the outside of the finger 200 (e.g., on the right side). Figure 6 The left side) is equipped with one, and is connected to the second link 2222. The second cylinder 232 can be in the width direction of the finger 200 (e.g., Figure 6 Located between two first cylinders 231 in the front-rear direction. The first cylinder 231 and the second cylinder 232 may each include a cylinder inserted into the support plate 212 and a block that moves up and down with the cylinder due to the drive unit 300. Each block can be slidably connected to the support member 211.

[0091] The drive unit 300 can receive instructions from the controller 20, thereby providing power for the grasping operation of the robotic hand 10. For example, the drive unit 300 can be a motor connected to the cylinder 230. The drive unit 300 can be individually connected to each of the plurality of fingers 200 included in the robotic hand 10, and can independently control each finger 200. For example, the drive unit 300 can independently and differently control the displacement, acceleration, etc. of the first finger 201, the second finger 202, the third finger 203, the fourth finger 204, and the fifth finger 205.

[0092] For example, such as Figure 4As shown, the robot hand 10 may include an encoder 500. The encoder 500 may be connected to the rotation axis of the drive unit 300, thereby measuring the state of the drive unit 300 (e.g., number of rotations, rotation speed, rotation direction, angular displacement, etc.) and transmitting it to the controller 20. The encoder 500 may be included in the drive unit 300, which is a motor, or connected to the drive unit 300.

[0093] The controller 20 can be connected to the robot hand 10 and platform 30 via wired or wireless means. By controlling the robot hand 10 and platform 30, the robot hand system 1 can grasp objects or perform operations such as grinding, polishing, welding, or assembly on the objects. For example, by sending a movement signal to the platform 30, the controller 20 can cause the robot hand 10 to move towards an object, or to move the robot hand 100, which has already grasped an object, to a designated position. Based on object information detected by the detection sensors 31 included in the platform 30, the controller 20 can cause the platform 30 to move. Alternatively, the controller 20 can send a working signal to the robot hand 10, thereby causing the robot hand 10 to grasp or release an object. The controller 20 can control the position, force, and torque of each finger 200.

[0094] For example, the controller 20 can receive data on the force and torque of the grasping object from the robot hand 10, as well as data from the drive unit 300, and control the drive unit 300 of the robot hand 10 accordingly. For example, when the robot hand 10 grasps an object and the tip 223 contacts the object, the tip sensor 400 can transmit data on the force and torque of the grasped object to the controller 20. Furthermore, the encoder 500 can transmit data from the drive unit 300 (e.g., the angular displacement of the motor) to the controller 20. Based on the received data, the controller 20 can calculate whether the finger 200 is in contact with the object, the magnitude and direction of the force and torque applied by the finger 200 to the object, the weight of the object, the position of the finger 200, and the direction and size of the object's center of gravity. In addition, the controller 20 can transmit the grasping mode, target grasping force, and critical torque to the drive unit 300, thereby controlling the robot hand 10.

[0095] The controller 20 is able to control the robot hand 10 in different grasping modes.

[0096] For example, the controller 20 can control the force of the robot hand 10 to grasp the object to be in a balanced state (e.g., a grasping force control mode as a first mode), or control the torque of the robot hand 10 to grasp the object (e.g., a grasping torque control mode as a second mode) so that the robot hand 10 can grasp the object stably.

[0097] Controller 20 may use a direct circuit architecture, in which each control function is performed by at least one microprocessor or other control device, such as a memory, processor, logic circuitry, and lookup table. Controller 20 can be implemented as a module, program, or code comprising at least one executable instruction (for performing a specific logical function). Controller 20 may include, or be implemented by, a processor such as a central processing unit for performing each function or microprocessor. Controller 20 is a communication device capable of sending and receiving data with external devices, and may include one or more combinations of digital modems, radio frequency (RF) modems, antenna circuitry, wireless local area network (Wi-Fi) chips, and associated software and / or firmware. For example, controller 20 may be implemented in user terminals such as desktop computers, laptops, tablets, and smartphones, or servers.

[0098] The controller 20 may include a computing unit 21, a memory unit 23, and an input unit 25.

[0099] The computing unit 21 can perform calculations required to control the robotic hand 10 and the platform 30. For example, the computing unit 21 can control the position, acceleration, etc. of the finger 200 by exchanging data with the tip sensor 400, the drive unit 300, and the encoder 500 included in the finger 200. The computing unit 21 can determine whether the force exerted by the finger 200 on the object O reaches the target force, whether force balance is achieved, or whether the sum of torques meets the critical torque, etc. Furthermore, based on the force and torque exerted by the finger 200 on the object O, the computing unit 21 can calculate the center of gravity of the object O.

[0100] The memory unit 23 can pre-store information required by the controller 20 to control the robot hand 10 and the platform 30, or store information detected by the robot hand 10 and the platform 30. For example, the memory unit 23 can store force and torque related information detected by the tip sensor 400, the position of the object O detected by the detection sensor 31, the target finger 200 in the control mode, and related information such as the grasping force of the finger 200.

[0101] The input unit 25 is a device for users to input commands to the controller 20, and may include various input devices such as a touch panel, keyboard, mouse, touch screen, scanner, and microphone. Users can directly control the robot arm system 1 by inputting commands to the input unit 25.

[0102] Platform 30 can support the robotic hand 10 and move the robotic hand 10 to a desired position by receiving instructions from controller 20. For example, platform 30 may be a platform 30 including a multi-axis robotic arm. Platform 30 can be connected to controller 20 via wired or wireless means and receive signals from controller 20, thereby enabling the robotic hand 10 mounted at the end effector to move toward an object or to move the robotic hand 10 that has grasped an object to another position. For example, platform 30 may include one or more detection sensors 31 for detecting objects. For example, such as... Figure 2 As shown, one or more detection sensors 31 may be located adjacent to the end of the platform 30 where the robot arm 10 is mounted. The detection sensors 31 detect the shape and size of the object, the distance between the object or the area where the object is placed and the robot arm 10, the material or type of the object, etc., and transmit them to the controller 20. For example, the detection sensors 31 may include vision sensors, ultrasonic sensors, laser sensors, electromagnetic sensors, time-of-flight (ToF) sensors, lidar, etc.

[0103] The following is for reference. Figures 1 to 20 The control method for robot arm system 1 or robot arm 10 is described.

[0104] For example, the control method of the robotic hand system 1 may include: a controller 20 causing the robotic hand 10, which includes a plurality of fingers 200, to move toward an object O; the controller 20 determining whether the tip sensors 400 included in the plurality of fingers 200 are in contact with the object O; the controller 20 controlling the plurality of fingers 200 until the grasping force of the target finger 201, which is the finger 201 corresponding to the thumb, reaches a target force; and when the grasping force of the target finger 201 reaches the target force, the controller 20 performing a grasping operation, wherein the step of performing the grasping operation may include a first grasping mode or a second grasping mode, in which the forces of the plurality of fingers 200 in contact with the object O are balanced by controlling the robotic hand 10, and in the second grasping mode, the sum of the torques of the plurality of fingers 200 grasping the object O does not exceed a critical torque by controlling the robotic hand 10.

[0105] The robotic hand system 1 can control the robotic hand 10 in a grasping force control mode (first grasping mode), in which the force of the fingers 200 grasping an object is controlled to stably grasp the object (see...). Figure 19 ).

[0106] The following describes an example of the first grasping mode. For example, when the controller 20 executes a pre-stored first grasping mode or receives a first grasping mode from a user, the controller 20 controls the robot hand 10 to move toward the object O. The position of the object O can be pre-inputted or detected by the detection sensor 31 of the platform 30. After the robot hand 10 moves to the object O, each finger 200 grasps the object O. At this time, the target finger 200 grasping the object O and the number of fingers 200, the target force of the fingers 200 can vary depending on the object O, and can be pre-included in the first grasping mode or input by the user to the controller 20 via the input unit 25. Furthermore, in the first grasping mode, the controller 20 can move the robot hand 10 so that the target finger 201 and the other fingers 200 are located on different sides of the object O, and the controller 20 can control the position of the target finger 201 to achieve force balance between the grasping force of the target finger 201 and the other fingers.

[0107] Next, the controller 20 determines whether each tip sensor 400 of the finger 200 required to execute the first grasping mode is activated, i.e., whether each tip sensor 400 is in contact with the object. If the tip 223 of the finger 200 is in contact with the object O, the tip sensor 400 can detect force and torque and transmit the detected force and torque to the controller 20. The controller 20 can determine whether the tip 223 of the finger 200 is in contact with the object O based on this data. If there are fingers 200 that are not in contact with the object O, the controller 20 can readjust the position of the robot hand 10.

[0108] When the tip sensor 400 of finger 200 is activated, the controller 20 can control a plurality of fingers 200 until the force detected by the tip sensor 400 of the first finger 201 among the plurality of fingers 200 reaches the target force. For example, as Figure 13 As shown, the controller 20 can control the fingers 200 so that the first finger 201, the second finger 202, and the third finger 203 grasp the object O with forces F1, F2, and F3, respectively. That is, in the pinching operation for grasping the object O, the core is the first finger 201 supporting the object O in the opposite position to the other fingers. The controller 20 can control the grasping force of the first finger 201 to stably support the object O. If the grasping force of the first finger 201 does not reach the target force F1, the controller 20 can control multiple fingers 200 to increase or decrease the force of the first finger 201 in grasping the object O.

[0109] When the grasping force of the first finger 201 reaches the target force F1, the controller 20 can calculate the sum of the force vectors of each force in contact with the object O and adjust the position of the fingers 200 to achieve force balance in the grasping state. For example, based on the force vectors of the first finger 201 and the remaining fingers 200 (e.g., the second finger 202 and the third finger 203) applied to the object O detected by the tip sensor 400, the controller 20 can adjust the position of the first finger 201 so that the sum of the force vectors is 0, wherein the first finger 201 grasps the object O from one side, and the remaining fingers 200 grasp the object O from the other side (see...). Figure 14 ).

[0110] After adjusting the position of the first finger 201, the controller 20 can re-determine whether the sum of the force vectors of each finger 200 grasping the object O is zero. If a force balance state is not achieved, the controller 20 can readjust the positions of the fingers 200. When a force balance state is achieved, the controller 20 can control the platform 30 to move the object O.

[0111] As described above, after the robotic hand system 10 controls the force of its fingers 200 to grasp the object O to reach the target force, it can control the position of any one of the fingers 200 (e.g., the first finger 201) to make the sum of the force vectors of the fingers 200 grasping the object O equal to 0. Therefore, the robotic hand 10 can stably grasp the object O in a state of force equilibrium.

[0112] The robotic hand system 1 can control the robotic hand 10 in a grasping torque control mode (second grasping mode), in which the torque of the fingers 200 is controlled to grasp the object stably (see...). Figure 20 ).

[0113] The following describes an example of the second grasping mode. For example, when the controller 20 executes a pre-stored second grasping mode or receives a second grasping mode from a user, the controller 20 controls the robot hand 10 to move toward the object O. The position of the object O can be pre-input or detected by the detection sensor 31 of the platform 30. After the robot hand 10 moves to the object O, each finger 200 grasps the object O. At this time, the target finger 200 grasping the object O, the number of fingers 200, the target force of the fingers 200, and the critical torque of the fingers 200 can vary depending on the object O, and can be pre-included in the second grasping mode or input by the user to the controller 20 through the input unit 25. Furthermore, in the second grasping mode, the controller 20 can move the robot hand 10 so that the target finger 201 and the other fingers 200 are located on different sides of the object O, and the controller 20 can control the position of the target finger 201 to achieve force balance between the grasping force of the target finger 201 and the other fingers.

[0114] Next, the controller 20 determines whether each tip sensor 400 of the finger 200 required to execute the second grasping mode is activated, i.e., whether each tip sensor 400 is in contact with the object. If the tip 223 of the finger 200 is in contact with the object O, the tip sensor 400 can detect force and torque and transmit the detected force and torque to the controller 20. The controller 20 can determine whether the tip 223 of the finger 200 is in contact with the object O based on this data. If there are fingers 200 that are not in contact with the object O, the controller 20 can readjust the position of the robot hand 10.

[0115] When the tip sensor 400 of finger 200 is activated, the controller 20 can control finger 200 until the force detected by the tip sensor 400 of the first finger 201 out of the plurality of fingers 200 reaches the target force. For example, as Figure 15 As shown, the controller 20 can control the fingers 200 so that the first finger 201, the second finger 202, and the third finger 203 grasp the object O with forces F1, F2, and F3 respectively. Furthermore, the controller 20 can cause the robot hand 10 to lift the object O upwards. Thus... Figure 16 As shown, torques T1, T2, and T3 are applied to the first finger 201, the second finger 202, and the third finger 203, respectively, which are in contact with object O. Controller 20 can determine whether the sum of the torques applied to each finger 200 exceeds a predetermined critical torque. If the sum of the torques does not exceed the critical torque, controller 20 controls platform 30 while maintaining the grasping state of robot hand 10, so that robot hand 10 moves object O to the desired position.

[0116] When the sum of the torques exceeds a critical torque, the controller 20 can measure the weight of the object O based on the force detected by the tip sensor 400 of each finger 200. Furthermore, the controller 20 can calculate the direction and magnitude (vector) of the center of gravity C of the object O. For example, based on the measured weight of the object O, the position of the tip sensor 400, and the torque value measured by the tip sensor 400, the controller 20 can calculate the center of gravity C of the object O (see [link to relevant documentation]). Figure 16 ).

[0117] Next, controller 20 can control robot hand 10 to release the grip, causing robot hand 10 to place object O back on the ground. Furthermore, controller 20 can cause robot hand 10 to re-grip after moving towards the center of gravity C of object O. For example, as... Figure 17As shown, the controller 20 can cause the first finger 201, the second finger 202, and the third finger 203 to re-grasp the object O. At this time, the forces F1', F2', and F3' of each finger 200 contacting the object O can be the same as or different from the initial forces F1, F2, and F3. Furthermore, the controller 20 moves the positions of the first finger 201, the second finger 202, and the third finger 203 towards the center of gravity C of the object O. At this time, the controller 20 can make the center of the gripping point correspond to the center of gravity C, where the gripping point is the point where the plurality of fingers 200 grip the object O. The gripping point can be the intersection of the vectors of contact between each finger 200 and the object O. Furthermore, after lifting the object O again, the controller 20 can determine whether the sum of the torques detected by the tip sensors 400 of each finger 200 exceeds a critical torque. For example, as... Figure 18 As shown, the torques of the first finger 201, the second finger 202, and the third finger 203 after the grasping position has changed are T1', T2', and T3', respectively. The controller 20 can then determine whether the sum of their torques exceeds the critical torque. If the critical torque is exceeded, the system can return to the step of measuring the weight of object O and re-execute the subsequent control steps.

[0118] As described above, after the robotic hand system 1 controls the force applied by the fingers 200 of the robotic hand 10 to grasp the object O to reach the target force, it can determine whether the sum of the torques meets the critical torque by lifting the object O upwards. If the sum of the torques fails to meet the critical torque, the controller 20 can move the position of the fingers 200 towards the center of gravity C of the object O so that the sum of the torques of the fingers 200 meets the critical torque. Thus, by positioning the grasping center of the fingers 200 at the center of gravity C of the object O, the robotic hand 10 can stably grasp the object O.

[0119] Alternatively, the controller 20 can maintain the robot hand 10 in a state of force balance while ensuring that the torque applied to the object O does not exceed a critical torque. That is, the controller 20 can grasp the object O by simultaneously applying the first grasping mode and the second grasping mode.

[0120] Although the invention has been described with reference to the embodiments shown in the accompanying drawings, these are merely exemplary. Those skilled in the art will understand that various changes can be made and other equivalent embodiments can be implemented. Therefore, the true scope of protection of this invention should be determined by the appended claims.

[0121] Industrial applicability

[0122] The robotic hand system including a fingertip sensor and the robotic hand system control method according to the embodiments of this disclosure can be used in robotics-related industries.

Claims

1. A control method for a robotic hand system, comprising: The controller causes the robotic hand, which includes multiple fingers, to move toward an object; The controller determines whether the tip sensors of the plurality of fingers are in contact with an object; The controller controls the plurality of fingers until the grasping force of the target finger corresponding to the thumb among the plurality of fingers reaches the target force; as well as When the grasping force of the target finger reaches the target force, the controller executes the grasping operation. The step of performing the grasping operation includes a first grasping mode or a second grasping mode. In the first grasping mode, the robot hand is controlled to balance the forces of the plurality of fingers in contact with the object. In the second grasping mode, the robot hand is controlled to ensure that the sum of the torques of the plurality of fingers grasping the object does not exceed a critical torque.

2. The control method for the robot hand system according to claim 1, wherein, In the first grasping mode, the controller moves the robot hand so that the target finger and the other fingers are on different sides separated by an object, and the controller controls the position of the target finger so that the grasping force of the target finger and the other fingers is balanced.

3. The control method for the robot hand system according to claim 1, wherein, In the second grasping mode, the controller determines whether the sum of the torques of the plurality of fingers meets the critical torque by lifting the object upwards with the plurality of fingers in the grasping state.

4. The control method for the robot hand system according to claim 3, wherein, When the sum of the torques of the plurality of fingers does not meet the critical torque, the controller measures the center of gravity of the object based on the forces and torques detected by the tip sensors of the plurality of fingers, and moves the plurality of fingers toward the center of gravity of the object.

5. The control method for the robot hand system according to claim 4, wherein, The controller moves the plurality of fingers so that the center of the grasping point of the plurality of fingers in contact with the object corresponds to the center of gravity of the object.

6. A robotic hand system, comprising: A robotic hand, which includes multiple fingers; as well as The controller controls the grasping operation of the robotic arm. The plurality of fingers includes a tip and a tip sensor. The tip contacts an object, and the tip sensor is included at the tip to measure the force and torque by which the finger grasps the object. The controller controls the plurality of fingers until the grasping force of the target finger corresponding to the thumb among the plurality of fingers reaches the target force, and performs a grasping operation when the grasping force of the target finger reaches the target force. The controller controls the robotic hand in a first grasping mode or a second grasping mode. In the first grasping mode, the controller balances the forces of the plurality of fingers in contact with the object. In the second grasping mode, the controller ensures that the sum of the torques of the plurality of fingers grasping the object does not exceed a critical torque.

7. The robotic hand system according to claim 6, wherein, In the first grasping mode, the controller moves the robot hand so that the target finger and the other fingers are on different sides separated by an object, and the controller controls the position of the target finger so that the grasping force of the target finger and the other fingers is balanced.

8. The robotic hand system according to claim 6, wherein, In the second grasping mode, the controller determines whether the sum of the torques of the plurality of fingers meets the critical torque by lifting the object upwards with the plurality of fingers in the grasping state.

9. The robotic hand system according to claim 8, wherein, When the sum of the torques of the plurality of fingers does not meet the critical torque, the controller measures the center of gravity of the object based on the forces and torques detected by the tip sensors of the plurality of fingers, and moves the plurality of fingers toward the center of gravity of the object.

10. The robotic hand system according to claim 9, wherein, The controller moves the plurality of fingers so that the center of the grasping point of the plurality of fingers in contact with the object corresponds to the center of gravity of the object.

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